- CDDR Control Strategy
- Non-Linear Multibody Dynamics
- Lyapunov Stability Verification
- 60 FPS MATLAB Animation Pipeline
NON-LINEAR CONTROL / MULTIBODY ROBOTICS
Centralized Dynamic Decentralized Receding Control for Non-Linear Systems
The double pendulum is a classical benchmark for chaotic, non-linear multi-body systems where tiny perturbations lead to exponential divergence. The CDDR2024 project implements an advanced Centralized Dynamic Decentralized Receding (CDDR) control architecture in MATLAB, stabilizing chaotic trajectories and achieving precise target motion objectives.
Coupled non-linear equations of motion
Derives the analytical Lagrangian equations of motion for an articulated double-link pendulum with distributed mass properties (m1=1.35 kg, m2=1.35 kg, l1=0.622 m, l2=0.622 m) and non-linear viscous damping.
CDDR control formulation
Employs a receding-horizon optimization that coordinates centralized dynamic feedforward compensation with decentralized receding local controllers, maintaining robust tracking without actuator saturation.
High-speed numerical integration
Solves the stiff differential equations of motion using adaptive time-stepping algorithms in MATLAB, computing state vector updates [θ1, θ2, ω1, ω2] across multi-second simulation horizons.
60 FPS rendering & video capture
Integrates real-time visual playback at 60 frames per second, synchronizing kinetic/potential energy plots, phase-space trajectories, and exporting broadcast-quality video animations (AVI).
Simulation Parameters & Control Metrics
- Physical Plant
- 2-link planar pendulum with distributed inertia (l1=l2=0.622 m, m1=m2=1.35 kg)
- Control Law
- Centralized Dynamic Decentralized Receding (CDDR) control strategy
- Integration Rate
- 60 FPS synchronized trajectory computation with adaptive ODE solver
- Diagnostics
- Real-time phase plane trajectories, torque effort, and energy conservation
- Video Export
- Automated AVI video frame rendering (doublePendulumAnimation.avi)
- Environment
- MATLAB R2023a+ · Control System Toolbox · Simulink compatible
Control Theory & Industrial Application
Demonstrates advanced non-linear control techniques directly applicable to industrial manipulators, overhead crane anti-sway systems, and active stabilization of cable-driven robots.