Abstract
The control design for juggling a devil-stick between two symmetric configurations is proposed. Impulsive forces are applied to the devil-stick at the two configurations; and impulse of the force and its point of application are modeled as the control inputs. The dynamics of the devil-stick is described by a single return Poincaré map, and it is shown that the control objective of juggling can be achieved by stabilizing a hybrid orbit. The impulse controlled Poincaré map (ICPM) approach, recently proposed for stabilization of continuous-time orbits of underactuated systems, is extended to achieve asymptotic stabilization of the hybrid orbit. The applicability of the ICPM approach to devil-stick juggling is demonstrated through numerical simulations.
Recommended Citation
N. Kant and R. Mukherjee, "Juggling a Devil-Stick: Hybrid Orbit Stabilization using the Impulse Controlled Poincaré Map," IEEE Control Systems Letters, vol. 6, pp. 1304 - 1309, article no. 9463402, Institute of Electrical and Electronics Engineers, Jan 2022.
The definitive version is available at https://doi.org/10.1109/LCSYS.2021.3091935
Department(s)
Mechanical and Aerospace Engineering
Keywords and Phrases
Devil-stick; hybrid orbit; impulsive control; juggling; orbital stabilization; Poincaré map; underactuated system
International Standard Serial Number (ISSN)
2475-1456
Document Type
Article - Journal
Document Version
Citation
File Type
text
Language(s)
English
Rights
© 2025 Institute of Electrical and Electronics Engineers, All rights reserved.
Publication Date
01 Jan 2022
Comments
National Science Foundation, Grant CMMI-1462118