A Receding Horizon Control for Lifting Ping-pong Ball

Authors:	Majima Sumiko, University of Tsukuba, Japan Chou Keii, University of Tsukuba, Japan
Topic:	2.4 Optimal Control
Session:	Control Applications of Optimization
Keywords:	Optimal Control, Constrain satisfation problem, Modeling errors, Feedback control, Hybrid, Inervals

Abstract

This paper proposes a control system for lifting a ping-pong ball without the use of a camera. The system measures the time of collision between a plate and a ball with a microphone. The control system has to lead both the position and the velocity of a motor to their desired values at each collision even if the model contains uncertainty or modeling errors. To achieve this objective, an optimal control is modified based on receding horizon control. The effectiveness of the proposed control method is verified by performing simulations on the lifting system.