Rhythmic Stabilization of Periodic Orbits in a Wedge

Authors:	Gerard Manuel, Université de Liège, Belgium Sepulchre Rodolphe, Université de Liège, Belgium
Topic:	2.3 Non-Linear Control Systems
Session:	Nonlinear Control Applications I
Keywords:	Rhythmic feedback control, juggling, billiard, discrete-time

Abstract

The paper addresses the rhythmic stabilization of periodic orbitsin a wedge billiard with actuated edges. The output feedbackstrategy, based on the sole measurement of impact times, resultsfrom the combination of a stabilizing state feedback control lawand a nonlinear deadbeat state estimator. It is shown that therobustness of both the control law and the observer leads to asimple rhythmic controller achieving a large basin of attraction.