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

58 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 1 2001

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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Lynch, K. M., & Black, C. K. (2001). Recurrence, controllability, and stabilization of juggling. IEEE Transactions on Robotics and Automation, 17(2), 113-124. https://doi.org/10.1109/70.928557

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