Solving Cart-Pole Swingup with a Hierarchical Controller(timallanwheeler.com)
timallanwheeler.com
Solving Cart-Pole Swingup with a Hierarchical Controller
https://timallanwheeler.com/blog/2022/12/01/cart-pole-with-actuator-limits/
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A blog post in which the classic cart-pole swingup problem is solved with a hierarchical control method that breaks the problem down into a high-level search problem on top of low-level LQR controllers. Everything is derived and code is presented.