Robust Hybrid Complex Motion Control Using Fuzzy Logic, Inverse Dynamic and PID-Q Controllers
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A simple prototypical hybrid dynamic system, namely the bouncing ball system, is used to illustrate modeling and control of a hybrid dynamic system. This standard system is extended to include a complex inelastic bounce surface and actuation. A nonlinear one-axis prismatic actuator applies a bounce force to the ball to regulate the bounce height. Several controllers are compared with each other in simulations; linear and nonlinear PID, inverse dynamic, and fuzzy logic. Robustness against unmodeled dynamics, parameter variations and external disturbances are shown. SimMechanics is used to model the bounce actuator, bouncing ball system and surface. Simulation results show that the fuzzy logic controller fairs better on average on a complex surface.
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