Rhythmic Feedback Control of a Blind Planar Juggler
Rhythmic Feedback Control of a Blind Planar Juggler
复制标题
DOI：
10.1109/tro.2007.900602
复制
发表时间：
2007-08
影响因子：
7.8
通讯作者：
R. Ronsse;P. Lefèvre;R. Sepulchre
中科院分区：
文献类型：
--
作者：
R. Ronsse;P. Lefèvre;R. Sepulchre
研究了平面变戏法系统周期轨道的反馈镇定问题。变戏法的人是“盲”的，也就是说，他除了检测撞击时间之外没有其他的感知能力。所提出的控制的鲁棒性分析表明，在冲击的武器加速度是一个关键的设计参数，即使它在稳定性分析中没有发挥作用。分析结果和收敛性证明提供了一个简化的模型的杂耍。控制律，然后适应一个更精确的模型，并在实验装置中进行验证。
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.