Recurrence, Controllability, and Stabilization of Juggling
Kevin M. Lynch and Craig K. Black
Abstract
This paper applies the idea of forced recurrence to demonstrate controllability and stabilizability of a single-input juggling system. Nonlinear optimization is used to find controls in a neighborhood of the recurrent controls that drive the system toward the goal trajectory. The approach is demonstrated on an experimental juggling system.
Figure 2: A line drawing of the experimental setup Flatland.
Figure 3: Experimental data showing the convergence of the puck to the vertical
juggling cycle from a distant state.