Supplementary video to paper "EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems"

Video of the simulation of the EigenMPC controller applied to a double pendulum in order to reach sustained regular oscillations. <br>Two versions of the controller are applied: (a) the adaptive version simultaneously finds and converges to the modes, (b) the curved version uses information about a pre-computed mode in order to converge to it.<br>Both versions are applied in order to find the two normal modes of the double pendulum, namely the in-phase mode and the anti-phase one.<br><br>

本视频展示了应用于双摆（double pendulum）的EigenMPC控制器的仿真过程，旨在实现持续规则的振荡运动。<br>该控制器包含两种实现版本：(a) 自适应版本可同时识别并收敛至系统振型；(b) 曲线型版本则借助预计算得到的振型信息完成收敛。<br>两种版本均用于求解双摆的两种固有振型，即同相振型与反相振型。