Application of Bouncing Ball Concept in Robotic Systems |
Author(s): |
| Hitesh C Kathiriya , L.D. College of Engineering; Ankit A Patel, L.D. College of Engineering; Pradipsinh A. Chauhan; Manish P Mishra |
Keywords: |
| Masses Z and X, MATLAB VRBUILD2.EXE |
Abstract |
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Tracking of a translating mass in polyhedral billiard is very interesting problem in control system. In this paper we have simulated the two masses translating in plane with four walls. Due to the discontinuous dynamics arising from non smooth impact, the tracking problem is formulated within a hybrid system framework and a Lyapunov function is given, which decreases during flow (continuous motion) and remains constant across jumps (impacts of the masses)[1]. Simulations of the model using classical control law have represented the relation between time of convergence and gain matrix. |
Other Details |
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Paper ID: IJSRDV3I30703 Published in: Volume : 3, Issue : 3 Publication Date: 01/06/2015 Page(s): 3443-3446 |
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