Impulse / sliding mode hybrid system modeling of interacting rigid body systems

In this paper, a new modeling approach based on a sliding manifold and hybrid system formulation, is developed to describe the dynamics of interacting rigid body systems. Appropriate discrete states, events, reset maps, and threshold parameters are developed. These yield a hybrid automaton framework to describe interacting rigid body systems. The new result is applied to the modeling and simulation of a rolling ball virtual reality system, which illustrates the validity of the approach.