TU Vienna Engineers Test Pendulum Cart System Amid Strained Lab Run

Double Pendulum on a Cart — Tobias Glück

Tobias Glück

Dynamic balance maneuvers using constrained feedforward and optimal feedback control provoke audible stress and apologies during live cart runs.

AI-assisted summary of Double Pendulum on a Cart — original source. Check the original for full context.

Source published:

Key ideas

  • The experiment demonstrates dynamic control of a double pendulum on a cart developed at TU Vienna ACIN CDS by Andreas Eder and Tobias Glück.
  • The control scheme implements a two-degrees-of-freedom design combining constrained feedforward control with optimal feedback control.
  • The demonstration protocol evaluates 12 point-to-point control maneuvers and 4 side-stepping operations.
  • The accompanying live audio captures an atmosphere of high tension, marked by vocal encouragement, nervous laughter, and gasps during the run. (0:00)

Detailed notes

## Background Published on YouTube by Tobias Glück on March 29, 2011, this video showcases a double pendulum on a cart demonstration developed by Andreas Eder and Tobias Glück at TU Vienna ACIN CDS. According to the description, the project features a two-degrees-of-freedom design using constrained feedforward and optimal feedback control to achieve 12 point-to-point controls and 4 side-stepping maneuvers.

## TL;DR The recording documents the tense live audio during a dynamic double pendulum on a cart run. The session opens with urgent encouragement of 'Come on! Come on!' as the apparatus begins its movement, promptly met with an initial 'Thank you.' Throughout the sequence, the room experiences fluctuating waves of stress marked by audible gasps, scoffing, strained breathing, and uneasy laughter amidst ambient pauses. Toward the end of the demonstration, a heavy pause and strained breath precede a brief 'I'm sorry' before the run concludes with several repeated acknowledgments of 'Thank you.'

## Atmosphere & style The atmosphere is intensely fraught and emotionally charged, swinging between sharp suspense and tentative relief. Listening to the audio feels intimate and nerve-wracking, as heavy silences are broken by strained breathing, distress, audible gasps, and nervous scoffs. The emotional arc moves from desperate initial urging into a high-stakes, breathless watch, finally resolving in an apologetic yet polite wrap-up.

## Bulletin - The experiment demonstrates dynamic control of a double pendulum on a cart developed at TU Vienna ACIN CDS by Andreas Eder and Tobias Glück. - The control scheme implements a two-degrees-of-freedom design combining constrained feedforward control with optimal feedback control. - The demonstration protocol evaluates 12 point-to-point control maneuvers and 4 side-stepping operations. - [00:00](https://www.youtube.com/watch?v=B6vr1x6KDaY&t=0s) The accompanying live audio captures an atmosphere of high tension, marked by vocal encouragement, nervous laughter, and gasps during the run.

## Key takeaways - The setup showcases a double pendulum on a cart system developed under TU Vienna's ACIN CDS research group. - A two-degrees-of-freedom control architecture is utilized, coupling constrained feedforward with optimal feedback control. - The experimental run features 12 point-to-point control executions and 4 side-stepping maneuvers. - The technical work was carried out by researchers Andreas Eder and Tobias Glück. - [00:00](https://www.youtube.com/watch?v=B6vr1x6KDaY&t=0s) The live recording opens with urgent vocal encouragement ('Come on! Come on!') as the cart and pendulum engage in motion. - [00:00](https://www.youtube.com/watch?v=B6vr1x6KDaY&t=0s) The room's reaction reflects fluctuating emotional states, alternating between sharp tension, silence, and nervous relief. - [00:00](https://www.youtube.com/watch?v=B6vr1x6KDaY&t=0s) Audible reactions include gasps, scoffing, and strained breathing throughout the difficult control sequence. - [00:00](https://www.youtube.com/watch?v=B6vr1x6KDaY&t=0s) Uneasy laughter and audible distress underscore the high stakes and precision demands of the physical demonstration. - [00:00](https://www.youtube.com/watch?v=B6vr1x6KDaY&t=0s) The phrase 'Thank you' is stated repeatedly across multiple segments of the run. - [00:00](https://www.youtube.com/watch?v=B6vr1x6KDaY&t=0s) A brief apology ('I'm sorry') is spoken toward the conclusion following a heavy pause and tense breathing. - [00:00](https://www.youtube.com/watch?v=B6vr1x6KDaY&t=0s) The session concludes with successive remarks of 'Thank you' as the demonstration completes.

## Detailed walkthrough ### [00:00](https://www.youtube.com/watch?v=B6vr1x6KDaY&t=0s) Demonstration Audio and Live Reactions

The audio recording captures a tense and emotional atmosphere during the double pendulum on a cart demonstration. The track opens with an urgent, encouraging call of “Come on! Come on!” as the dynamic experiment is set into motion, immediately followed by an initial acknowledgment of “Thank you.” The room's mood fluctuates between sharp tension and nervous relief, marked by audible gasps, scoffing, strained breathing, and background ambient sounds punctuated by silence.

As the sequence progresses, the heightened emotion continues with a mixture of uneasy laughter, audible distress, and further gasps. Through the strain and tension, repeated acknowledgments of “Thank you” are offered to those present. Toward the conclusion of the recording, following a heavy pause and strained breathing, a brief apology is spoken: “I'm sorry.” This is followed by a succession of closing remarks reiterating “Thank you” as the run wraps up.

- Spoken dialogue includes the direct urging “Come on! Come on!” alongside the apology “I'm sorry.” - The phrase “Thank you.” is repeated multiple times throughout the recording amidst ambient pauses, gasps, and nervous laughter.

## Mentioned Andreas Eder, Tobias Glück, TU Vienna (ACIN CDS)

## Video description Double Pendulum on a Cart 12 x point-to-point control and 4 x side-stepping

Two-degrees-of-freedom design: Constrained feedforward & optimal feedback control

TU Vienna ACIN CDS http://www.acin.tuwien.ac.at/

Done by Andreas Eder and Tobias Glück

http://users.acin.tuwien.ac.at/tglueck/

[Source](https://www.youtube.com/watch?v=B6vr1x6KDaY)

中文简报

维也纳工业大学工程师在紧张的实验室运行中测试倒立摆小车系统 利用约束前馈和最优反馈控制进行的动态平衡操作，在小车现场运行期间引发了清晰可闻的紧张情绪和道歉声。 该录音记录了双倒立摆小车动态运行期间紧张的现场音频。测试一开始，随着装置开始运转，现场便响起了急切的加油声“Come on! Come on!”，随后很快传来一声“Thank you”。在整个运行过程中，实验室内弥漫着起伏不断的紧张氛围，其间夹杂着清晰可闻的倒吸气声、嘲弄声、沉重的喘息声以及环境停顿中的不安笑声。在演示接近尾声时，现场出现了一阵沉重的停顿和急促的呼吸，随后有人轻声说了句“I'm sorry”，最终在几次重复的“Thank you”致谢声中结束了运行。 该实验展示了由维也纳工业大学 ACIN CDS 的 Andreas Eder 和 Tobias Glück 开发的小车双倒立摆动态控制系统。 该控制方案采用双自由度设计，结合了约束前馈控制与最优反馈控制。 演示方案评估了12次点对点控制操作和4次避让操作。 随附的现场音频捕捉到了高度紧张的氛围，在运行过程中伴有言语加油声、紧张的笑声和倒吸气声。 (0:00)

Detailed notes — zh

## Background 该视频由 Tobias Glück 于 2011 年 3 月 29 日发布在 YouTube 平台上。视频展示了维也纳工业大学自动化与控制研究所（TU Vienna ACIN CDS）的研究人员 Andreas Eder 与 Tobias Glück 共同完成的小车双摆（Double Pendulum on a Cart）实验，演示了结合受约束前馈与最优反馈的双自由度控制架构，成功执行 12 次点对点控制与 4 次侧移控制。 ## TL;DR 视频记录了维也纳工业大学对高度非线性、欠驱动的小车双摆硬件平台所进行的高难度运动控制测试。算法采用受约束前馈控制与最优反馈控制协同工作的双自由度设计，引导小车在有限导轨上连续完成 12 次大幅度点对点平衡切换与 4 次动态侧移平移。两节倒立摆在经历剧烈的惯性晃动与极限倾角后，均能精准且迅速地重新锁定在竖直直立状态。测试期间完整收录了实验人员在摆杆失稳边缘时的现场紧张互动与最终平稳收敛后的如释重负。 ## Atmosphere & style 整个实测过程充斥着实验室一线最纯粹的紧张感与屏息凝神的期待感。随着小车在导轨上剧烈推拉、双摆在倾覆边缘极限拉扯，背景中研究人员催促祈祷般的“Come on!”将悬念拉满。在经历微调时的偶发自嘲与连声的“Thank you”之间，情绪由高度紧绷自然过渡为成功验证算法后的舒缓与欣慰，极富科研现场的原汁原味。 ## Bulletin - [00:00](https://www.youtube.com/watch?v=B6vr1x6KDaY&t=0s) 维也纳工业大学自动化与控制研究所（TU Vienna ACIN CDS）的研究人员展示了小车双摆系统在有限导轨上的复杂动态平衡与轨迹跟踪控制。 - [00:00](https://www.youtube.com/watch?v=B6vr1x6KDaY&t=0s) 实验采用双自由度（2-DOF）控制架构，深度融合受约束前馈控制（Constrained feedforward）与最优反馈控制（Optimal feedback control）。 - [00:00](https://www.youtube.com/watch?v=B6vr1x6KDaY&t=0s) 小车双摆平台连续成功完成了 12 次高精度点对点平衡控制以及 4 次动态侧移避障控制测试。 ## Key takeaways - [00:00](https://www.youtube.com/watch?v=B6vr1x6KDaY&t=0s) 实验由 Andreas Eder 与 Tobias Glück 在维也纳工业大学自动化与控制研究所共同研发完成。 - [00:00](https://www.youtube.com/watch?v=B6vr1x6KDaY&t=0s) 实验目标是验证高级控制策略在高度非线性且严重欠驱动的小车双摆系统中的实际表现与工程落地能力。 - [00:00](https://www.youtube.com/watch?v=B6vr1x6KDaY&t=0s) 控制架构核心为双自由度设计（Two-degrees-of-freedom design），兼顾轨迹跟踪精度与扰动抑制能力。 - [00:00](https://www.youtube.com/watch?v=B6vr1x6KDaY&t=0s) 受约束前馈控制能够在考虑执行机构物理与导轨长度极限的情况下规划可行的动态轨迹。 - [00:00](https://www.youtube.com/watch?v=B6vr1x6KDaY&t=0s) 最优反馈控制负责在摆动剧烈的状态下实现闭环校正，保证两节倒立摆快速收敛至竖直平衡位置。 - [00:00](https://www.youtube.com/watch?v=B6vr1x6KDaY&t=0s) 系统成功执行了包含连续 12 次点对点位移切换和 4 次侧向避障动作（side-stepping）的高难度测试序列。 - [00:00](https://www.youtube.com/watch?v=B6vr1x6KDaY&t=0s) 在极限工况和接近倾覆边缘时，算法依然表现出优异的鲁棒性，推动小车在有限行程内化解失稳风险。 - [00:00](https://www.youtube.com/watch?v=B6vr1x6KDaY&t=0s) 现场录音记录了实验人员在面临高难度倒立摆平衡控制时从紧张屏息到成功完成后的放松与致意。 ## Detailed walkthrough ### [00:00](https://www.youtube.com/watch?v=B6vr1x6KDaY&t=0s) 小车双摆控制实验演示与现场反响 在维也纳工业大学自动化与控制研究所（TU Vienna ACIN CDS）的实验现场，研究人员 Andreas Eder 与 Tobias Glück 正在对小车双摆系统（Double Pendulum on a Cart）进行高难度动态平衡与轨迹跟踪测试。该实验旨在验证双自由度控制架构（Two-degrees-of-freedom design）在非线性、高度欠驱动系统中的实际表现。算法核心结合了受约束前馈控制（Constrained feedforward）与最优反馈控制（Optimal feedback control），小车需要在有限长度的导轨上完成连续 12 次高精度的点对点平衡控制（12 x point-to-point control）以及 4 次动态侧移避障控制（4 x side-stepping）。 随着小车在轨道上疾驰、两节倒立摆在重力与惯性作用下剧烈摆动并重新锁定直立平衡，现场充满了高度专注与紧绷的情绪。在测试过程中，面对摆杆极易失稳倾覆的边缘工况，记录音频中传出了实验人员充满期盼与催促的喊声：“Come on! Come on!”。每当小车与双摆成功完成一段惊险的极限运动并稳定在竖直平衡位置时，现场便会不由自主地松一口气并连声致意：“Thank you.”。 在复杂的长序列点位移动与侧移任务中，控制算法不断在轨道的极限位置内调整推力，期间伴随着现场低语、紧张的喘息声与测试间隙的笑声。在系统经历轻微偏差或调试磨合的瞬间，实验人员还自嘲且歉意地吐露了一句“I'm sorry.”，随后在整个多段连续任务顺利推进、系统持续平稳收敛的态势下，现场再次接连以欣慰和赞许的“Thank you.”为控制演示画上句号。 ```mermaid flowchart LR accTitle: 小车双摆双自由度控制架构 accDescr: 展示受约束前馈与最优反馈协同驱动小车双摆系统的结构 subgraph Input ["目标指令"] Ref["参考轨迹 / 设定点"] end subgraph Controller ["双自由度控制架构 (2-DOF)"] FF["受约束前馈控制<br>(Constrained Feedforward)"] FB["最优反馈控制<br>(Optimal Feedback)"] end subgraph System ["执行对象"] Cart["小车双摆硬件平台<br>(Cart & Double Pendulum)"] end Ref --> FF Ref --> FB FF -->|"前馈输入"| Cart Cart -->|"状态测量"| FB FB -->|"闭环校正"| Cart ``` - 实验课题与单位：维也纳工业大学自动化与控制研究所复杂动力系统研究组（TU Vienna ACIN CDS），由 Andreas Eder 与 Tobias Glück 共同完成。 - 控制策略：双自由度设计（Two-degrees-of-freedom design），集成考虑执行器物理极限的受约束前馈控制与最优反馈闭环控制。 - 任务执行指标：包含连续 12 次点对点位置切换控制（12 x point-to-point control）及 4 次侧向平移/避障动作（4 x side-stepping）。 - 现场原声原句：实验过程中记录了“Come on! Come on!”的现场助威声，调试波折时的自语“I'm sorry.”，以及伴随动作成功完成时连连道出的“Thank you.”。 ## Mentioned Andreas Eder, Tobias Glück, 维也纳工业大学自动化与控制研究所（TU Vienna ACIN CDS）, 小车双摆系统（Double Pendulum on a Cart） ## Video description Double Pendulum on a Cart 12 x point-to-point control and 4 x side-stepping Two-degrees-of-freedom design: Constrained feedforward & optimal feedback control TU Vienna ACIN CDS http://www.acin.tuwien.ac.at/ Done by Andreas Eder and Tobias Glück http://users.acin.tuwien.ac.at/tglueck/ [Source](https://www.youtube.com/watch?v=B6vr1x6KDaY)

Original transcript

[0:00] . Come on! Come on! Thank you. *pain* . . *scoffs* . Thank you. *Gasps* - - *sad breathing* *crickets* Thank you. *crickets* *laughter* - Thank you. *crying* Thank you. *Gasp* . . . *painful* laughter *crickets* . *painful breathing* . *crickets* . I'm sorry. Thank you. Thank you. . Thank you.