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) |
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Pages (from-to) | 113-124 |
Number of pages | 12 |
Journal | IEEE Transactions on Robotics and Automation |
Volume | 17 |
Issue number | 2 |
DOIs | |
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