Time Optimal Control of Flexible Systems Subject to Friction

Abstract

This paper presents a technique for the determination of timeoptimal control profiles for a rest-to-rest maneuvering multiple spring-mass-damper system, subject to Coulomb friction. A parameterization of the control input which accounts for the friction force, resulting in a linear analysis of the system is proposed. Optimality condition are examined for the control profile resulting from the parameter optimization problem. The variation of the optimal control structure as a function of final displacement is exemplified on the friction benchmark problem.