CUED Publications database

A hybrid systems approach to trajectory tracking control for juggling systems

Sanfelice, RG and Teel, AR and Sepulchre, R (2007) A hybrid systems approach to trajectory tracking control for juggling systems. In: UNSPECIFIED pp. 5282-5287..

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Abstract

From a hybrid systems point of view, we provide a modeling framework and a trajectory tracking control design methodology for juggling systems. We present the main ideas and concepts in a one degree-of-freedom juggler, which consists of a ball bouncing on an actuated robot. We design a hybrid control strategy that, with only information of the ball's state at impacts, controls the ball to track a reference rhythmic pattern with arbitrary precision. We extend this hybrid control strategy to the case of juggling multiple balls with different rhythmic patterns. Simulation results for juggling of one and three balls with a single actuated robot are presented. © 2007 IEEE.

Item Type: Conference or Workshop Item (UNSPECIFIED)
Subjects: UNSPECIFIED
Divisions: Div F > Control
Depositing User: Cron Job
Date Deposited: 07 Mar 2014 11:46
Last Modified: 08 Dec 2014 02:18
DOI: 10.1109/CDC.2007.4435010