Publication Details

Publication Nr. 5
5Marco Muenchhof and Tarunraj Singh: Jerk Limited Time Optimal Control of Multi-Input Systems. Proceedings of the 2002 American Control Conference, American Automatic Control Council, 2002. Language: Englisch
A design method for determining control sequences for rest-to-rest maneuvers of flexible structures with multiple actuators and multiple resonant modes is described in this paper. 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 ofthe controller on some or all of the resonant poles of the system.
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