Robust Time-Optimal Control of Flexible Structures With Parametric Uncertainty

[+] Author and Article Information
Shin-Whar Liu, Tarunraj Singh

SUNY at Buffalo, Buffalo, NY 14260

J. Dyn. Sys., Meas., Control 119(4), 743-748 (Dec 01, 1997) (6 pages) doi:10.1115/1.2802386 History: Received December 31, 1996; Online December 03, 2007


The design of robust time-optimal controllers using the sensitivity concept is presented in this paper. A parameter optimization problem is solved using the Switch Time Optimization algorithm to determine a bang-bang control profile that minimizes the maneuver time subject to the constraint that the sensitivity of the final states with respect to system parameters are zero. The proposed approach is illustrated on the benchmark floating oscillator problem and a slewing flexible beam whose equations of motion are nonlinear. Simulation results illustrate the reduction of residual vibrations of the system subject to the robust control profile, compared to the time-optimal control profile.

Copyright © 1997 by The American Society of Mechanical Engineers
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