Flying ball in the hoop

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Your task will be to recreate and improve system called Flying ball in the hoop that serves for education and research of optimal control. The primary motivation is to create the building instructions and documentation that enables others to build and use this system in their labs.

The model consists mainly of a ball and a hoop. The ball can freely rotate in the hoop, and the hoop is attached to a motor which allows us to exert a torque on the hoop. There is also a camera measuring the position of the ball. Everything is interfaced with Raspberry Pi, the brain of our laboratory model.

Contact person: 
Jiří Zemánek
Video: Flying Ball in the Hoop - Control Using Matlab Simulink and Raspberry Pi