A project to simulate a furuta pendulum and design a controller for it, to teach myself modern control theory.
- furata_pendulum_dynamics.py - General grab bag of linear model and controller. In marimo format
- pendulum_damping.py - Attempt to measure damping of pendulum axis via measuring ringdown.
- [mujoco_sim.py] - Simulate our actual controller using MuCoJo.
- Python dependencies in pyproject.toml
- To render video from mujoco_sim, you need ffmpeg
- On windows 10+
winget install ffmpeg - On linux/osx, you know what to do
- On windows 10+
- Pendulum dynamics from On the Dynamics of the Furuta Pendulum
- Furata Pendulum MuJoCo model from macstepien/furuta_pendulum, GPL licensed
- Steve Brunton's Control Bootcamp for modern control theory
- Controls Engineering in the FIRST Robotics Competition, Tyler Veness for Bryson's rule to choose Q and R matrices for LQR.