A Reference Following Robust Minimum-Time Control

Rather than conventional switching type sub-optimal controls, a reference following robust minimum-time control (RMTC) approach is investigated, where the predetermined minimum-time trajectory is tracked by the perturbation compensator based feedback controller. First, the minimum-time trajectory for a mass-damper system is derived, which tells the friction force term should be considered to have a reasonable reference trajectory, specifically as the speed of target motion is increased. The perturbation compensator is also addressed to achieve robust tracking performance in spite of model uncertainty and external disturbances. The performance of RMTC is compared with the proximate time-optimal control algorithm (PTOS) through simulation results.