Desensitized Jerk Limited-Time Optimal Control of Multi-Input Systems
نویسندگان
چکیده
The problem of designing jerk limited-time optimal control pro les for rest-to-rest maneuvers of exible structures with multiple actuators is addressed. The problem formulation includes constraints to cancel the poles corresponding to the rigid-body mode and exible modes of the system and to satisfy the boundary conditions of the rest-to-rest maneuver. Further constraints can be added to increase robustness to parametric uncertainties of the plant. The technique proposed is applied to a three-mass/two-spring system and the evolution of the shape of the control pro le as a function of jerk is illustrated.
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