Robust time-optimal control for flexible structures by augmented dynamics

2003 ◽  
Author(s):  
Hyochoong Bang ◽  
Hyun Jae Lee ◽  
Youn-Ju Eun
Keyword(s):  
Optimal Control ◽  
Flexible Structures ◽  
Time Optimal Control ◽  
Time Optimal

scholarly journals Jerk Limited Time Optimal Control of Flexible Structures

2001 ◽  
Author(s):  
Marco Muenchhof ◽  
Tarunraj Singh
Keyword(s):  
Optimal Control ◽  
Boundary Conditions ◽  
Control Algorithm ◽  
Flexible Structures ◽  
Numerical Results ◽  
Time Optimal Control ◽  
Limited Time ◽  
Benchmark Problem ◽  
Time Optimal ◽  
Geometric Boundary

Abstract This paper deals with the design of jerk-limited time-optimal control sequences for rest-to-rest maneuvers of flexible structures. The resulting jerk profiles will be either bang-bang or bang-off-bang. To ensure quiescent states at the end of the maneuver, a pole cancellation technique will be used. Further constraints account for the geometric boundary conditions. This paper will also investigate the development of the control profile upon variation of the maximum allowable amount of jerk. The last section presents numerical results. The proposed control algorithm is implemented for the Floating Oscillator benchmark problem.

Robust Time-Optimal Control of Flexible Structures With Parametric Uncertainty

1997 ◽  
Vol 119 (4) ◽  
pp. 743-748 ◽  
Author(s):  
Shin-Whar Liu ◽  
Tarunraj Singh
Keyword(s):  
Optimal Control ◽  
Equations Of Motion ◽  
Flexible Structures ◽  
Parametric Uncertainty ◽  
Time Optimal Control ◽  
Flexible Beam ◽  
Nonlinear Simulation ◽  
Switch Time ◽  
Optimal Controllers ◽  
Time Optimal

The design of robust time-optimal controllers using the sensitivity concept is presented in this paper. A parameter optimization problem is solved using the Switch Time Optimization algorithm to determine a bang-bang control profile that minimizes the maneuver time subject to the constraint that the sensitivity of the final states with respect to system parameters are zero. The proposed approach is illustrated on the benchmark floating oscillator problem and a slewing flexible beam whose equations of motion are nonlinear. Simulation results illustrate the reduction of residual vibrations of the system subject to the robust control profile, compared to the time-optimal control profile.

scholarly journals Jerk Limited Time Optimal Control of Flexible Structures

2003 ◽  
Vol 125 (1) ◽  
pp. 139-142 ◽  
Author(s):  
Marco Muenchhof ◽  
Tarunraj Singh
Keyword(s):  
Optimal Control ◽  
Optimal Control Problem ◽  
Boundary Conditions ◽  
Rigid Body ◽  
Control Problem ◽  
Flexible Structures ◽  
Time Optimal Control ◽  
Limited Time ◽  
Time Optimal

This paper addresses the problem of designing jerk limited time-optimal control profiles for rest-to-rest maneuvers of flexible structures. The variation of the structure of the jerk profile as a function of the permissible jerk is studied. An optimal control problem is formulated which includes constraints to cancel the poles corresponding to the rigid body and flexible modes of the system and to satisfy the boundary conditions of the rest-to-rest maneuver. The proposed technique is illustrated on the benchmark Floating Oscillator problem where the jerk profile is parameterized as a bang-off-bang or bang-bang profile.

Adaptive Time-Optimal Control of Flexible Structures

1989 ◽  
Author(s):  
A. M. Pascoal ◽  
R. L. Kosut ◽  
G. F. Franklin ◽  
D. R. Meldrum ◽  
M. L. Workman
Keyword(s):  
Optimal Control ◽  
Flexible Structures ◽  
Time Optimal Control ◽  
Time Optimal ◽  
Adaptive Time
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