Abstract
In this paper, a dynamic impact control is proposed. To deal with impact phenomenon and to establish the control method, a pendulum-like juggling test system is developed. On this system, a slider hits a ball suspended by a wire and the energy is controlled via impact force from the slider. For stable juggling motion, it is necessary to make the slider reach to target position keeping specified velocity just on specified time. The reference trajectory for the slider control is generated and adjusted in real time, and the proposed variable structure (VS) servo control enables chattering-free precise tracking to the reference trajectory. Combining an estimator based on an exact VS-differentiator enhances the ability of the VS-servo control. The effectiveness of the whole juggling strategy is verified by simulation and experiment.
