Balancing a Flying Inverted Pendulum with an Unknown Length Using Model Predictive Control and a Genetic Algorithm Estimator
Year: 2026
Type: preprint
Abstract: This paper proposes an online Genetic Algorithm (GA) estimator and a Model Predictive Control (MPC) approach to solve the flying inverted pendulum problem in a practical experiment where the pendulum length is unknown. The performance of the MPC approach was demonstrated on a practical system through disturbance and trajectory tracking tests to assess controller robustness and tracking accuracy. The convergence speed and accuracy of the online GA estimator were validated on a practical system using different initial conditions.
Source: arXiv (Cornell University)
Authors: Paul, Esther, Torok, Mitchell, Deghat, Mohammad
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: green
OpenAlex ID: W7203762650
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