Article (Scientific journals)
Rhythmic feedback control of a blind planar juggler
Ronsse, R.; Lefevre, Philippe; Sepulchre, Rodolphe
2007In IEEE Transactions on Robotics, 23 (4), p. 790-802
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Keywords :
bouncing ball; impact dynamics; intermittent control; juggling
Abstract :
[en] 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.
Disciplines :
Computer science
Author, co-author :
Ronsse, R.
Lefevre, Philippe
Sepulchre, Rodolphe ;  Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation
Language :
English
Title :
Rhythmic feedback control of a blind planar juggler
Publication date :
August 2007
Journal title :
IEEE Transactions on Robotics
ISSN :
1552-3098
Publisher :
Ieee-Inst Electrical Electronics Engineers Inc, Piscataway, United States - New Jersey
Volume :
23
Issue :
4
Pages :
790-802
Peer reviewed :
Peer Reviewed verified by ORBi
Available on ORBi :
since 21 December 2009

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