Ball in double hoop: demonstration model for numerical optimal control
Ball and hoop system is a well-known model for the education of linear control systems. In this paper, we have a look at this system from another perspective and show that it is also suitable for demonstration of more advanced control techniques. In contrast to the standard use, we describe the dyna...
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Zusammenfassung: | Ball and hoop system is a well-known model for the education of linear
control systems. In this paper, we have a look at this system from another
perspective and show that it is also suitable for demonstration of more
advanced control techniques. In contrast to the standard use, we describe the
dynamics of the system at full length; in addition to the mode where the ball
rolls on the (outer) hoop we also consider the mode where the ball drops out of
the hoop and enters a free-fall mode. Furthermore, we add another (inner) hoop
in the center upon which the ball can land from the free-fall mode. This
constitutes another mode of the hybrid description of the system. We present
two challenging tasks for this model and show how they can be solved by
trajectory generation and stabilization. We also describe how such a model can
be built and experimentally verify the validity of our approach solving the
proposed tasks. |
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DOI: | 10.48550/arxiv.1706.07333 |