Juggling on a bouncing ball apparatus via hybrid control

A novel solution to the problem of controlling a one degree-of-freedom ball juggling system that explicitly models friction is proposed. A hybrid controller is designed to steer the ball to track a specific reference trajectory. The juggling system consists of a nearly-smooth vertical shaft with a p...

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Bibliographic Details
Published in2013 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 1848 - 1853
Main Authors Xiaolu Tian, Koessler, Jeffrey H., Sanfelice, Ricardo G.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.11.2013
Subjects
Acceleration
Force
Friction
Hybrid power systems
Pistons
Trajectory
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Summary:A novel solution to the problem of controlling a one degree-of-freedom ball juggling system that explicitly models friction is proposed. A hybrid controller is designed to steer the ball to track a specific reference trajectory. The juggling system consists of a nearly-smooth vertical shaft with a piston-actuated bouncing ball. The hybrid controller is capable of tracking a periodic reference trajectory. A practical (finite-time) tracking property is established using hybrid systems theory, while juggling experiments are presented to validate the hybrid control algorithm. Key to these experimental results are: 1) the use of a filtered zero-crossing impact detection algorithm; 2) a Savitzky-Golay filter for smooth piston position and velocity; 3) a custom external PID controller; and 4) the estimation of the apparatus parameters via system ID methods.
ISSN:2153-0858
2153-0866
DOI:10.1109/IROS.2013.6696600