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A Hybrid Systems Approach to Trajectory Tracking Control for Juggling Systems
Sanfelice, Ricardo G.; Teel, Andrew R.; Sepulchre, Rodolphe
2007In Proceedings of the 46th IEEE Conference on Decision and Control
Peer reviewed
 

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Abstract :
[en] 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.
Disciplines :
Electrical & electronics engineering
Author, co-author :
Sanfelice, Ricardo G.;  University of California - Santa Barbara (USA) > Department of Electrical and Computer Engineering
Teel, Andrew R.;  University of California, Santa Barbara (USA) > Department of Electrical and Computer Engineering
Sepulchre, Rodolphe ;  Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation
Language :
English
Title :
A Hybrid Systems Approach to Trajectory Tracking Control for Juggling Systems
Publication date :
December 2007
Event name :
46th IEEE Conference on Decision and Control
Event place :
New-Orleans, United States - Louisiana
Event date :
du 12 au 14 décembre 2007
By request :
Yes
Audience :
International
Main work title :
Proceedings of the 46th IEEE Conference on Decision and Control
Pages :
5282-5287
Peer reviewed :
Peer reviewed
Available on ORBi :
since 06 January 2011

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