Brief Direct adaptive control design for one-degree-of-freedom complementary-slackness jugglers

Authors:
Arturo Zavala-Rio;Bernard Brogliato
Affiliations:
Universidad Autónoma de San Luis Potosı, CIEP-FI, Av. Dr. Manuel Nava 8, Zona Universitaria, 78290 San Luis Potosı, S.L.P., Mexico;Laboratoire d'Automatique de Grenoble (UMR 5528 CNRS-INPG), ENSIEG, BP 46, 38402 St. Martin d'Hères, France
Venue:
Automatica (Journal of IFAC)
Year:
2001

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Abstract

This note deals with the problem of controlling a simple one-degree-of-freedom (1-dof) juggling robot (a system that belongs to the class of nonsmooth hybrid complementary-slackness dynamical systems), when some physical parameters such as the object mass and the restitution coefficient are not exactly known. The proposed adaptive controller is based on so-called dead-beat viable controllers previously studied, in which the sequence of desired ''robot'' pre-impact velocities is suitably modified. The dynamics of a simple 1-dof hopper is shown to be controllable by the proposed control algorithm. Numerical simulations support the theoretical results.