Optimal command generation for flexible mechanical systems under multiple constraints

This paper presents a method for generating optimal command profiles for linear time-invariant mechanical systems with model uncertainty. Command generation for such systems should satisfy multiple conditions and constraints such as initial and final conditions, actuator limits, and residual vibration suppression after the motion. We had previously proposed a novel command-generation method for relatively simple dynamic systems and verified the method using single input examples. In the proposed method, the control input is represented as a linear superposition of triangle waves, and the problem is formulated as a linear programming problem. In this study, the proposed method is applied to more general linear time-invariant mechanical systems and verified using some benchmark problems, including a multi-input case.