Recurrence, controllability, and stabilization of juggling

Kevin M. Lynch*, Craig K. Black

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-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 languageEnglish (US)
Pages (from-to)113-124
Number of pages12
JournalIEEE Transactions on Robotics and Automation
Volume17
Issue number2
DOIs
StatePublished - 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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