论文标题
弹跳球的方向控制
Orientation Control of the Bouncing Ball
论文作者
论文摘要
控制混合动力学系统的控制可以以两种主要方式之一：通过连续或离散的动力学。影响连续动力学的控制的一个示例是腿部的运动，在该运动中，关节被驱动，但影响的位置和性质不受控制。相反，离散控制的一个例子将是网球。球员只能通过击中球来影响球的轨迹。 这项工作以两个关键重点研究了后一种情况。首先是通过更改警卫的位置（而不是仅更改重置）来体现控制。第二个是警卫的位置由“外部变量”描述，而目标是控制“内部变量”。作为对该理论的简单检验，探索了弹跳球的定向控制。仅在仅位置依赖性的撞击过程中控制球。
Control of a hybrid dynamical system can manifest in one of two main ways: either through the continuous or the discrete dynamics. An example of controls influencing the continuous dynamics is legged locomotion, where the joints are actuated but the location and nature of the impacts are uncontrolled. In contrast, an example of discrete control would be in tennis; the player can only influence the trajectory of the ball through striking it. This work examines the latter case with two key emphases. The first is that controls manifest through changing the location of the guard (as opposed to changing only the reset). The second is that the location of the guard is described by "external variables" while the goal is to control "internal variables." As a simple test of this theory, orientation control of a bouncing ball is explored; the ball is only controlled during impacts which are exclusively position-dependent.
