IEEE transactions on robotics, 2007-08, Vol.23 (4), p.790-802
2007
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Details
- Autor(en) / Beteiligte
- Titel
- Rhythmic Feedback Control of a Blind Planar Juggler
- Ist Teil von
- IEEE transactions on robotics, 2007-08, Vol.23 (4), p.790-802
- Ort / Verlag
- New York, NY: IEEE
- Erscheinungsjahr
- 2007
- Quelle
- IEL
- Beschreibungen/Notizen
- 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.
- Sprache
- Englisch
- Identifikatoren
- ISSN: 1552-3098eISSN: 1941-0468DOI: 10.1109/TRO.2007.900602Titel-ID: cdi_proquest_miscellaneous_896231900
- Format
- –
- Schlagworte
- Actuators, Applied sciences, Arm, Automation, Blinds, Bouncing ball, Computer science, control theory, systems, Control system analysis, Control system synthesis, Control systems, Control theory. Systems, Convergence, Design parameters, Engineering, computing & technology, Exact sciences and technology, Feedback control, Feedback control systems, impact dynamics, Ingénierie, informatique & technologie, intermittent control, juggling, Legged locomotion, Mathematical analysis, Motion control, Motor drives, Neuroscience, Orbits, Robot kinematics, Robotics, Robots, Robust control, Robustness, Sciences informatiques, Stabilization