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 |
Keywords
- Global controllability
- Juggling
- Nonlinear optimization
- Recurrence
- Robotic manipulation
ASJC Scopus subject areas
- Control and Systems Engineering
- Electrical and Electronic Engineering