ORBi: Ronsse R. - Rhythmic feedback control of a blind planar juggler

Reference : Rhythmic feedback control of a blind planar juggler


	Document type :	Scientific journals : Article
	Discipline(s) :	Engineering, computing & technology : Computer science
	To cite this reference:	http://hdl.handle.net/2268/33229

Title :	Rhythmic feedback control of a blind planar juggler
Language :	English
Author, co-author :	Ronsse, R. [> > > >]
	Lefevre, Philippe [ > > ]
	Sepulchre, Rodolphe [Université de Liège - ULg > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation >]
Publication date :	Aug-2007
Journal title :	IEEE Transactions on Robotics
Publisher :	Ieee-Inst Electrical Electronics Engineers Inc
Volume :	23
Issue/season :	4
Pages :	790-802
Audience :	International
ISSN :	1552-3098
City :	Piscataway
Keywords :	[en] 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.
Permalink :	http://hdl.handle.net/2268/33229
DOI :	10.1109/TRO.2007.900602
Other URL :	http://www.montefiore.ulg.ac.be/~ronsse/Wiper/index.html
Mentions required by the publisher for OA :	© IEEE. Personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution to servers or lists, or to reuse any copyrighted component of this work in other works must be obtained from the IEEE. This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author's copyright. In most cases, these works may not be reposted without the explicit permission of the copyright holder.

File(s) associated to this reference

Fulltext file(s):

	File	Commentary	Version	Size	Access
Open access	published.pdf		Publisher postprint	571.93 kB	View/Open

All documents in ORBi are protected by a user license.

Dspace v1.5