Title :
Recurrence, controllability, and stabilization of juggling
Author :
Lynch, Kevin M. ; Black, Craig K.
Author_Institution :
Dept. of Mech. Eng., Northwestern Univ., Evanston, IL, USA
fDate :
4/1/2001 12:00:00 AM
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 :
controllability; manipulator dynamics; manipulator kinematics; optimisation; path planning; stability; controllability; dynamics; juggling system; motion planning; optimization; recurrence; robotic manipulators; stabilization; Control systems; Controllability; Convergence; Heuristic algorithms; Limit-cycles; Motion control; Nonlinear control systems; Robots; Satellites; State-space methods;
Journal_Title :
Robotics and Automation, IEEE Transactions on
