Robust time-optimal control for flexible structures by augmented dynamics

Robust optimal control problem for flexible structures using on-off type discrete actuators has been a subject of intensive research. Optimization by switching time parameterization can be used to minimize the mauver time subject to equality boundary constraints. Sensitivity of the switching times with respect to modal parameters could be a critical factor degrading the performance of the time optimal solutions. A new approach for the robustness enhancement of switching times with respect to modal parameter uncertainty is introduced. The so-called augmented dynamic model is added to account for the modal uncertainty. The proposed approach turns out to be similar to some previous methods, but provides some new results.