Stabilization of a Quintuple Inverted Pendulum System in Isaac Sim

This paper presents an overview of a quintuple inverted pendulum system within the Isaac Sim simulation environment. Inverted pendulum systems, with their inherently unstable nature, are common benchmarks in robotics and control engineering for testing new control strategies. While controlling pendulum configurations has seen significant advancements, managing the increased complexity and unpredictability of systems with multiple pendulums remains a technical challenge. This study extends the scope of existing research by introducing a more complex system with five pendulums in a stacked configuration. By utilizing the Isaac Sim environment, we demonstrate the feasibility of simulating and controlling such system, achieving stable upright positions. Additionally, this research contributes to bridging the gap between hardware and simulation by integrating with ROS2, a widely-used robotics middleware framework. Our results underscore great capabilities of Isaac Sim for modeling and testing sophisticated control algorithms and open new avenues for the development of scalable control solutions for complex multi-body systems.