Robust time-optimal control - A frequency domain approach

1994 American Institute of Aeronautics and Astronautics. Inc. All rights reserved. The design of nonrobust and robust time-optimal controllers for linear systems in the frequency domain is presented. The bang-bang profile is represented as the superposition of time-delayed step inputs or the output of a time-delay filter subject to a step input. A parameter optimization problem is formulated to minimize the final time of the maneuver with the constraint that the time-delay filter cancel all the poles of the system. The issue of robustness to errors in the model is addressed, by placing multiple zeros of the time-delay filter at the estimated locations of the poles of the system. The design technique is illustrated on representative models of large space structures, for rest-to-rest, time-optimal, and robust time optimal maneuvers. Spin-up maneuvers are shown to be special cases of the general formulation.

Robust time-optimal control - A frequency domain approach Conference Paper