A RECEDING HORIZON CONTROL FOR LIFTING PING-PONG BALL

摘要

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 must then be able to direct both the position and the velocity of a motor for each subsequent collision, even if the model contains uncertainty or modeling errors. To achieve this objective, an optimal control is modified using receding horizon control. The effectiveness of the proposed control method is verified by performing simulations on the lifting system.