Jerk limited time optimal control of multi-input systems

Marco Muenchhof; Tarunraj Singh

doi:10.1109/ACC.2002.1024825

Jerk limited time optimal control of multi-input systems

Marco Muenchhof
, Tarunraj Singh

Department of Mechanical and Aerospace Engineering

SUNY Buffalo

Research output: Contribution to journal › Article › peer-review

2 Scopus citations

Abstract

A design method for determining control sequences for rest-to-rest maneuvers of flexible structures with multiple actuators and multiple resonant modes is described in this paper. The problem formulation is based on a pole cancellation approach with constraints on both the magnitude and the time rate of change of the control inputs. Time-optimality can be traded for an increased level of robustness with respect to modeling errors. Robustification is achieved by placing additional zeros of the controller on some or all of the resonant poles of the system.

Original language	English
Pages (from-to)	328-333
Number of pages	6
Journal	Proceedings of the American Control Conference
Volume	1
DOIs	https://doi.org/10.1109/ACC.2002.1024825
State	Published - 2002

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title = "Jerk limited time optimal control of multi-input systems",

abstract = "A design method for determining control sequences for rest-to-rest maneuvers of flexible structures with multiple actuators and multiple resonant modes is described in this paper. The problem formulation is based on a pole cancellation approach with constraints on both the magnitude and the time rate of change of the control inputs. Time-optimality can be traded for an increased level of robustness with respect to modeling errors. Robustification is achieved by placing additional zeros of the controller on some or all of the resonant poles of the system.",

author = "Marco Muenchhof and Tarunraj Singh",

year = "2002",

doi = "10.1109/ACC.2002.1024825",

language = "English",

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journal = "Proceedings of the American Control Conference",

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N2 - A design method for determining control sequences for rest-to-rest maneuvers of flexible structures with multiple actuators and multiple resonant modes is described in this paper. The problem formulation is based on a pole cancellation approach with constraints on both the magnitude and the time rate of change of the control inputs. Time-optimality can be traded for an increased level of robustness with respect to modeling errors. Robustification is achieved by placing additional zeros of the controller on some or all of the resonant poles of the system.

AB - A design method for determining control sequences for rest-to-rest maneuvers of flexible structures with multiple actuators and multiple resonant modes is described in this paper. The problem formulation is based on a pole cancellation approach with constraints on both the magnitude and the time rate of change of the control inputs. Time-optimality can be traded for an increased level of robustness with respect to modeling errors. Robustification is achieved by placing additional zeros of the controller on some or all of the resonant poles of the system.

UR - https://www.scopus.com/pages/publications/0036057177

U2 - 10.1109/ACC.2002.1024825

DO - 10.1109/ACC.2002.1024825

M3 - Article

AN - SCOPUS:0036057177

SN - 0743-1619

VL - 1

SP - 328

EP - 333

JO - Proceedings of the American Control Conference

JF - Proceedings of the American Control Conference

ER -

Jerk limited time optimal control of multi-input systems

Abstract

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