Robust Time-Optimal Control of Nonlinear Structures with Parameter Uncertainties


Liu, S-W., & Singh, T.


ASME Journal of Dynamics Systems, Measurement and Control, 119(4), 743-748, 1997.


The design of robust lime-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.

   Author = {S.W. Liu, T. Singh},
   Journal = {ASME Journal of Dynamic Systems, Measurement and Control},
   Month = {Dec.},
   Pages = {743-748},
   Title = {Robust Time-Optimal Control of Nonlinear Structures with Parameter Uncertainties},
   Volume = {119},
   Number = {4},
   Year = {1997}