Feedback Control of Impact Dynamics: the Bouncing Ball Revisited

Ronsse, Renaud; Sepulchre, Rodolphe

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Feedback Control of Impact Dynamics: the Bouncing Ball Revisited

Ronsse, Renaud; Sepulchre, Rodolphe

2006 • In Proceedings of the 45th IEEE Conference on Decision and Control

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Abstract :

[en] We study the 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.

Disciplines :

Electrical & electronics engineering

Author, co-author :

Ronsse, Renaud; Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore)

Sepulchre, Rodolphe ; Université de Liège - ULiège > Dép. d'électric., électron. et informat. (Inst.Montefiore) > Systèmes et modélisation

Language :

English

Title :

Feedback Control of Impact Dynamics: the Bouncing Ball Revisited

Publication date :

December 2006

Event name :

45th IEEE Conference on Decision and Control

Event place :

San Diego, United States - California

Event date :

du 13 au 15 décembre 2006

By request :

Yes

Audience :

International

Main work title :

Proceedings of the 45th IEEE Conference on Decision and Control

Peer reviewed :

Peer reviewed

Available on ORBi :

since 06 December 2010

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