A comparison of multi-switch bang-bang and Time-Optimal Zero-Vibration commands for rest-to-rest moves of a floating oscillator

This paper compares two methods for creating multi-switch bang-bang commands to produce rest-to-rest command inputs for a floating oscillator system. The proposed multi-switch, bang-bang commands (MSBB) have constant switching intervals and satisfy zero-vibration (at the end of the maneuver), maximum acceleration, and move distance constraints. The MSBB commands are compared to the Time-Optimal, Zero-Vibration (TO-ZV) commands that produce a vibration-free move for a floating oscillator system. Simulation results show that the proposed MSBB commands are a valid alternative to the TO-ZV command due to the simplicity of the MSBB design procedure, the comparable move times and robustness, and the avoidance of very short switching intervals.