Recurrence, controllability, and stabilization of juggling

Kevin M. Lynch; Craig K. Black

doi:10.1109/70.928557

Recurrence, controllability, and stabilization of juggling

Kevin M. Lynch^*, Craig K. Black

^*Corresponding author for this work

Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

66 Scopus citations

Abstract

This paper applies the idea of forced recurrence to demonstrate controllability and stabilizability of a single-input juggling system. Nonlinear optimization is used to find controls in a neighborhood of the recurrent controls that drive the system toward the goal trajectory. The approach is demonstrated on an experimental juggling system.

Original language	English (US)
Pages (from-to)	113-124
Number of pages	12
Journal	IEEE Transactions on Robotics and Automation
Volume	17
Issue number	2
DOIs	https://doi.org/10.1109/70.928557
State	Published - Apr 2001

Funding

Manuscript received November 13, 2000. This paper was recommended for publication by Associate Editor M. Buehler and Editor A. De Luca upon evaluation of the reviewers’ comments. This work was supported by the National Science Foundation under Grant IIS-9811571 and Grant IIS-9875469. This paper was presented in part at the International Symposium on Robotics Research, Snowbird, UT, 1999, and the Allerton Conference on Communication, Control, and Computing, Monticello, IL, 2000.

Keywords

Global controllability
Juggling
Nonlinear optimization
Recurrence
Robotic manipulation

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

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10.1109/70.928557

Cite this

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title = "Recurrence, controllability, and stabilization of juggling",

abstract = "This paper applies the idea of forced recurrence to demonstrate controllability and stabilizability of a single-input juggling system. Nonlinear optimization is used to find controls in a neighborhood of the recurrent controls that drive the system toward the goal trajectory. The approach is demonstrated on an experimental juggling system.",

keywords = "Global controllability, Juggling, Nonlinear optimization, Recurrence, Robotic manipulation",

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Recurrence, controllability, and stabilization of juggling

Abstract

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Keywords

ASJC Scopus subject areas

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