Shaped control for damped flexible structures with friction and slew rate limits

This paper analytically derives shaped phase-plane feedback controllers for damped flexible structures with friction considering slew rate limit constraints which lead to three categories of maneuver ranges. The approach uses input shaping accounting for a damped flexible mode to alter the time-optimal velocity profile that moves the frictional rigid body from rest to rest. Simulations show that the resulting shaped closed-loop control laws yield near time-optimal performance without unwanted residual vibrations and faster time response than the previously developed extended proximate time-optimal servomechanism control, especially when the flexible dynamics are dominant.