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Robust near time-optimal control

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1 Author(s)
Newman, W.S. ; Dept. of Electr. Eng. & Appl. Phys., Case Western Reserve Univ., Cleveland, OH, USA

A robust control algorithm for a realization of nearly time-optimal control of double integrator plants is presented. The technique involves the combination of traditional bang-bang time-optimal control with the methods of sliding-mode control. The result is a nonlinear feedback scheme for maintaining a desired functional relationship among dynamic variables, in this case imitating the idealized dynamics of time-optimal control. The approach is nearly time optimal rather than exactly time optimal, since the bang-bang control components are restricted to values below full actuator saturation, thus reserving some actuator effort for compensation of disturbances and model imperfections. The algorithm blends smoothly into a linear controller near a stable goal location

Published in:

Automatic Control, IEEE Transactions on  (Volume:35 ,  Issue: 7 )