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

60 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

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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",

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.",

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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.

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KW - Nonlinear optimization

KW - Recurrence

KW - Robotic manipulation

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Recurrence, controllability, and stabilization of juggling

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Keywords

ASJC Scopus subject areas

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