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.
- Global controllability
- Nonlinear optimization
- Robotic manipulation
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering