Dynamics and Control of Bouncing Ball

This paper investigates the control of a bouncing ball using Model Predictive Control. Bouncing ball is a benchmark problem for various rhythmic tasks such as juggling, walking, hopping and running. Humans develop intentions which may be perceived as our reference trajectory and tries to track it. The human brain optimizes the control effort needed to track its reference; this forms the central theme for control of bouncing ball in our investigations.

Authors:

• A. K. Kamath
• N. M. Singh
• R. Pasumarthy

Keywords:

• Bouncing Ball
• impact dynamics
• intermittent control
• model predictive control.

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