Time-optimal control of flexible systems subject to friction Authors Kim, J.J., Kased, R.,, and Singh, T. Source Automatica, 29(4), 257-277. Abstract This paper presents a technique for the determination of time-optimal control profiles for rest-to-rest maneuvers of a mass-spring system, subject to Coulomb friction. A parameterization of the control input that accounts for the friction force, resulting in a linear analysis of the system is proposed. The optimality condition is examined for the control profile resulting from the parameter optimization problem. The development is illustrated on a single input system where the control input and the friction force act on the same body. The variation of the optimal control structure as a function of final displacement is also exemplified on the friction benchmark problem.
@article{Singh08_OCAM, Author = {J.-J. Kim, R. Kased and T. Singh}, Journal = {Optimal Control Applications and Methods}, Month = {July}, Pages = {257-277}, Title = {Time-optimal control of flexible systems subject to friction}, Volume = {29}, Number = {4}, Year = {2008} } |