Title :
Jerk limited time optimal control of multi-input systems
Author :
Muenchhof, Marco ; Singh, Tarunraj
Author_Institution :
Dept. of Mech. & Aerosp. Eng., State Univ. of New York, Buffalo, NY, USA
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. 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.
Keywords :
flexible structures; multivariable control systems; poles and zeros; robust control; time optimal control; control sequences; design method; flexible structures; jerk limited time optimal control; modeling errors; multi-input systems; multiple actuators; multiple resonant modes; pole cancellation; resonant poles; rest-to-rest maneuvers; robustness; time-optimality; Actuators; Aerospace engineering; Automatic control; Control systems; Design methodology; Flexible structures; Optimal control; Resonance; Robustness; Sampling methods;
Conference_Titel :
American Control Conference, 2002. Proceedings of the 2002
Print_ISBN :
0-7803-7298-0
DOI :
10.1109/ACC.2002.1024825
