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

64 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

Keywords

Global controllability
Juggling
Nonlinear optimization
Recurrence
Robotic manipulation

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/70.928557

Cite this

@article{6fd4082d65e3405ead050e023d8d38da,

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",

author = "Lynch, {Kevin M.} and Black, {Craig K.}",

note = "Funding Information: 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{\textquoteright} 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.",

year = "2001",

month = apr,

doi = "10.1109/70.928557",

language = "English (US)",

volume = "17",

pages = "113--124",

journal = "IEEE Transactions on Robotics and Automation",

issn = "1042-296X",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "2",

}

TY - JOUR

T1 - Recurrence, controllability, and stabilization of juggling

AU - Lynch, Kevin M.

AU - Black, Craig K.

N1 - Funding Information: 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.

PY - 2001/4

Y1 - 2001/4

N2 - 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.

AB - 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.

KW - Global controllability

KW - Juggling

KW - Nonlinear optimization

KW - Recurrence

KW - Robotic manipulation

UR - http://www.scopus.com/inward/record.url?scp=0035301445&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0035301445&partnerID=8YFLogxK

U2 - 10.1109/70.928557

DO - 10.1109/70.928557

M3 - Article

AN - SCOPUS:0035301445

VL - 17

SP - 113

EP - 124

JO - IEEE Transactions on Robotics and Automation

JF - IEEE Transactions on Robotics and Automation

SN - 1042-296X

IS - 2

ER -

Recurrence, controllability, and stabilization of juggling

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this