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

页码：113 / 124

页数：12

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