CUED Publications database

Rhythmic feedback control of a blind planar juggler

Ronsse, R and Lefèvre, P and Sepulchre, R (2007) Rhythmic feedback control of a blind planar juggler. IEEE Transactions on Robotics, 23. pp. 790-802. ISSN 1552-3098

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Abstract

The paper considers the feedback stabilization of periodic orbits in a planar juggler. The juggler is "blind," i.e, he has no other sensing capabilities than the detection of impact times. The robustness analysis of the proposed control suggests that the arms acceleration at impact is a crucial design parameter even though it plays no role in the stability analysis. Analytical results and convergence proofs are provided for a simplified model of the juggler. The control law is then adapted to a more accurate model and validated in an experimental setup. © 2007 IEEE.

Item Type: Article
Subjects: UNSPECIFIED
Divisions: Div F > Control
Depositing User: Cron job
Date Deposited: 16 Jul 2015 13:25
Last Modified: 02 Sep 2015 02:32
DOI: 10.1109/TRO.2007.900602