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A hybrid systems approach to trajectory tracking control for juggling systems

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3 Author(s)
Sanfelice, R.G. ; Massachusetts Inst. of Technol., Cambridge ; Teel, A.R. ; Sepulchre, R.

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.

Published in:

Decision and Control, 2007 46th IEEE Conference on

Date of Conference:

12-14 Dec. 2007