Generation method of admissible sets for mode switching control using final-state control with thrust limitation

Mode Switching Control (MSC) is a control method which switches from one control mode to another according to switching conditions. MSC has been widely used in robots and hard disk drives. Considering thrust limitations, however, the switching condition is generally conservative since there are not any clear criteria to switch the control modes. Therefore, this paper proposes a new index of switching condition which uses initial state variables in Final-State Control (FSC) with thrust limitations. The novelty of the index is that feedforward inputs which take an initial state to a final state in finite time can be generated automatically, while taking into account thrust limitations. The effectiveness of the proposed index is shown by simulations.