Recurrence, controllability, and stabilization of juggling

被引：57
|
作者：
Lynch, KM [1 ]
Black, CK [1 ]
机构：
[1] Northwestern Univ, Dept Mech Engn, Evanston, IL 60208 USA
来源：
IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2001年 / 17卷 / 02期
基金：
美国国家科学基金会;
关键词：
global controllability; juggling; nonlinear optimization; recurrence; robotic manipulation;
D O I：
10.1109/70.928557
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：113 / 124
页数：12
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