Jerk Limited Time-Optimal Control of Flexible Structures


Muenchhof, M., & Singh, T.


2001 ASME International Mechanical Engineering Congress and Exposition.


This paper deals with the design of jerk-limited time-optimal control sequences for rest-to-rest maneuvers of flexible structures. The resulting jerk profiles will be either bang-bang or bang-off-bang. To ensure quiescent states at the end of the maneuver, a pole cancellation technique will be used. Further constraints account for the geometric boundary conditions. This paper will also investigate the development of the control profile upon variation of the maximum allowable amount of jerk. The last section presents numerical results. The proposed control algorithm is implemented for the Floating Oscillator benchmark problem.