MatthewPeterKelly/OptimTraj

New Demo: balancing an inverted pendulum in space

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#8 opened on Feb 24, 2016

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enhancementhelp wanted

Description

This is a thing that neat quad-copter demos do all of the time. Move a balanced and inverted pendulum between two points in 3D space, by applying a force to the base. The force can push on the pendulum, but not pull.

Contributor guide

Tech stack
None
Domain
ai
Issue type
feature
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
4
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
3-5 days
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
stale
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
clear
Prerequisites
MATLABtrajectory optimizationcontrol theory
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
25
Research direction
Review the existing demos in the 'demos' folder (e.g., 'demo cartpole.m') to understand the template. Create a new demo file 'demo invertedPendulum.m' that defines the dynamics of an inverted pendulum on a moving base in 3D, formulates the optimal control problem using OptimTraj's functions, and solves it using a direct transcription method. Ensure the demo includes clear comments and plots.