Time‐optimal control of flexible systems subject to friction | Zendy

Kim JaeJun | Zendy; Kased Rajaey | Zendy; Singh Tarunraj | Zendy

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Time‐optimal control of flexible systems subject to friction

Author(s) -

Kim JaeJun,

Kased Rajaey,

Singh Tarunraj

Publication year - 2007

Publication title -

optimal control applications and methods

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.458

H-Index - 44

eISSN - 1099-1514

pISSN - 0143-2087

DOI - 10.1002/oca.820

Subject(s) - benchmark (surveying) , rest (music) , control theory (sociology) , displacement (psychology) , optimal control , spring (device) , coulomb friction , control (management) , function (biology) , computer science , mathematics , engineering , mathematical optimization , physics , mechanical engineering , nonlinear system , geology , artificial intelligence , psychology , geodesy , quantum mechanics , evolutionary biology , acoustics , psychotherapist , biology

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. Copyright © 2007 John Wiley & Sons, Ltd.

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