This paper addresses the problem of designing jerk limited time-optimal control profiles for rest-to-rest maneuvers of flexible structures. The variation of the structure of the jerk profile as a function of the permissible jerk is studied. An optimal control problem is formulated which includes constraints to cancel the poles corresponding to the rigid body and flexible modes of the system and to satisfy the boundary conditions of the rest-to-rest maneuver. The proposed technique is illustrated on the benchmark Floating Oscillator problem where the jerk profile is parameterized as a bang-off-bang or bang-bang profile.
Jerk Limited Time Optimal Control of Flexible Structures
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS for publication in the ASME JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received by the ASME Dynamic Systems and Control Division, 2001; final revision, September 2002. Associate Editor: C. Rahn.
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Muenchhof , M., and Singh , T. (March 10, 2003). "Jerk Limited Time Optimal Control of Flexible Structures ." ASME. J. Dyn. Sys., Meas., Control. March 2003; 125(1): 139–142. https://doi.org/10.1115/1.1543552
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