Title :
Feedback Control of Impact Dynamics: the Bouncing Ball Revisited
Author :
Ronsse, Renaud ; Sepulchre, Rodolphe
Author_Institution :
Dept. of Electr. Eng. & Comput. Sci., Univ. de Liege
Abstract :
We study the design of a tracking controller for the popular bouncing ball model: the continuous-time actuation of a table is used to control the impacts of the table with a bouncing ball. The proposed control law uses the impact times as the sole feedback information. We show that the acceleration of the table at impact plays no role in the stability analysis but is an important parameter for the robustness of the feedback system to model uncertainty, in particular to the uncertainty on the coefficient of restitution
Keywords :
continuous time systems; control system synthesis; feedback; stability; bouncing ball model; continuous-time actuation; feedback control; impact dynamics; stability analysis; tracking controller design; Acceleration; Control systems; Feedback control; Humans; Mirrors; Neurofeedback; Robots; Sensorless control; Stability analysis; Uncertainty;
Conference_Titel :
Decision and Control, 2006 45th IEEE Conference on
Conference_Location :
San Diego, CA
Print_ISBN :
1-4244-0171-2
DOI :
10.1109/CDC.2006.376774
