Planar juggling of a devil-stick using impulsive inputs is addressed using the concept of discrete virtual holonomic constraints (DVHC). The location of the center-of-mass of the devil-stick is specified in terms of its orientation at the discrete instants when impulsive control inputs are applied. The discrete zero dynamics (DZD) resulting from the choice of DVHC provides conditions for stable juggling. A control design that enforces the DVHC and an orbit stabilizing controller are presented. The approach is validated in simulation.

翻译：本文采用离散虚拟完整约束（DVHC）方法，研究通过脉冲输入实现魔杖的平面杂耍控制。魔杖质心的位置由其方向角在施加脉冲控制输入的离散时刻所决定。通过选择DVHC所产生的离散零动态（DZD）为稳定杂耍提供了条件。本文提出了一种用于实现DVHC的控制设计方案以及一个轨道稳定控制器。该方法的有效性通过仿真实验得到了验证。