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Probabilistic Basins of Attraction for a Juggling Machine


B. Mottet

Semester Thesis, FS15 (10414)

The Blind Juggler is a juggling machine that bounces multiple balls on a single actuated paddle. Previous research has explored the existence and local stability of periodic orbits for a given paddle motion, as well as their basins of attraction. Furthermore, a control strategy has been developed to bring the bouncing balls into a combination of stable periodic orbits. However, mainly due to process noise, the balls do not converge to the stable orbits in the deterministic sense. The goal of this project was to quantify the probability of balls converging to given robust invariant orbits from all initial conditions. The following control policy is then applied to the system: the state-space is explored by inducing chaotic ball trajectories until the estimated probability of reaching the desired orbits is above a given threshold. The system then switches to a periodic paddle motion that drives the ball to the desired orbits. Both simulation and experimental results are presented.

Supervisors: Tyler Summers, Philipp Reist, Nikolaos Kariotoglou, Raffaello D’Andrea, John Lygeros


Type of Publication:

(13)Semester/Bachelor Thesis

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2015:IFA_5458
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