Characteristics of Deflection-Limited Time-Optimal Control of the Benchmark Problem


Vossler, M., and Singh, T.


Proceedings of the 2008 International Symposium on Flexible Automation


The focus of this paper is on the design of time optimal control profiles for flexible structures subject to deflection constraints. The benchmark floating oscillator is used to illustrate the variation in the structure of the control profile as a function of permissible deflection. The transition from a 5 switch bang-bang to a 7 switch bang-bang to finally, a 7 switch profile which includes non-saturating intervals, is demonstrated. The loss of anti-symmetry of the control profile and the transition of the structures of the deflection constrained time-optimal control profiles for damped systems is also presented.