用SQP实现实时非线性MPC，让双摆快速稳定直立。
Real-Time Nonlinear MPC via Sequential Quadratic Programming with Structure-Exploiting ADMM and Interior-Point Methods for Underactuated Double-Pendulum Swing-Up
- 基于序列二次规划的实时非线性MPC控制方法
- 在扰动下仍实现可靠摆起与稳定，性能稳健
- 适用于无模型、远程硬件验证的复杂控制场景
第四届「AI奥运会与RealAIGym」竞赛将于2026年IJCAI-ECAI大会在不来梅举行，挑战参与者开发一种全局控制策略，将欠驱动双连杆系统摆起并稳定于直立位置。与以往不同的是，参赛者需在远程可访问的CloudPendulum硬件上直接开发和评估其控制策略，交互时间有限且未知系统模型参数。本文提出一种基于最优控制的实时非线性模型预测控制方法，采用序列二次规划（SQP）实现。结果表明，所提的SQP-MPC控制器在扰动下仍能实现可靠的摆起与稳定性能，具备强鲁棒性。
原文摘要 · Abstract (English)
The 4th "AI Olympics with RealAIGym" competition, to be held at IJCAI-ECAI 2026 in Bremen, challenges participants to develop a global control policy for swinging up and stabilizing an underactuated two-link system in its upright position. In contrast to previous editions, participants develop and evaluate their control strategies directly on remotely accessible CloudPendulum hardware, with limited interaction time and without prior knowledge of the system's model parameters. This paper presents an optimal-control-based approach employing real-time nonlinear model predictive control implemented using sequential quadratic programming. The results demonstrate that the proposed SQP-based MPC controller achieves reliable swing-up and stabilization performance, while maintaining robustness against disturbances.
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