Bouncing ball trajectory tracking using sliding mode control: a hybrid approach

This paper presents a hybrid control strategy based on programmable automatons, where height control a bouncing ball system using sliding modes is studied as a case of application in impact systems. Without loss of generality, hybrid mathematical modeling of the bouncing ball system in an ideal environment is obtained as the interaction between a continuous domain and a discrete domain. Additionally, to guarantee the trajectory tracking, a sliding mode control law on-line is redesigned after each impact. Finally, to soften the unwanted effect caused by discontinuous control named chattering, and reducing tracking error. Simulation results are obtained using the numerical tool MATLAB^® to validate the hybrid methodology proposed.