Desensitized jerk limited-time optimal control of multi-input systems

The problem of designing jerk limited-time optimal control profiles for rest-to-rest maneuvers of flexible structures with multiple actuators is addressed. The problem formulation includes constraints to cancel the poles corresponding to the rigid-body mode and flexible 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 profile as a function of jerk is illustrated.