Point-to-Point Positioning of Flexible Structures Using a Time Domain LQ Smoothness Constraint

[+] Author and Article Information
S. P. Bhat, D. K. Miu

School of Engineering and Applied Science, University of California at Los Angeles, Los Angeles, Calif. 90024

J. Dyn. Sys., Meas., Control 114(3), 416-421 (Sep 01, 1992) (6 pages) doi:10.1115/1.2897363 History: Received September 12, 1990; Revised September 17, 1991; Online March 17, 2008


An analytical procedure to implement optimal smoothing of the finite-time control waveform for point-to-point control problem is presented, which minimizes an optimality constraint consisting of a linear combination of the quadratic norms of its time derivatives. It is shown that the resulting control input is essentially the minimum norm solution augmented to satisfy some additional continuity requirements in the time domain. Application of the proposed technique to finite-time maneuvering of flexible structures is experimentally demonstrated and performances are compared using control torques evaluated based on different order of the smoothness constraint and order of the truncated plant model.

Copyright © 1992 by The American Society of Mechanical Engineers
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