Direct adaptive control design for one-degree-of-freedom complementary-slackness jugglers (Q5939339)

This article treats the control problem for a simple one-degree-of-freedom (1-dof) juggling robot in the case where some physical parameters such as the object mass and the restitution coefficient are not exactly known. An adaptive controller is proposed which is based on the dead-beat viable control principle where the sequence of desired robot pre-impact velocities is properly modified. This controller is shown to guarantee the semi-global convergence of the process state towards its discrete-time desired trajectory. The proposed control algorithm is applied on a simple 1-dof hopper with success, thus illustrating the theoretical results.