On trajectory design for flexible structures with input and state constraints

Approaches to trajectory planning for lumped parameter models of flexible systems with kinematic input and state constraints are compared. These comprise so-called impulseshaping techniques, a flatness-based approach, and optimal-control methods. The latter includes a novel real-time capable technique for almost time-optimal control. On the basis of a simple example, the different methods are compared in simulation studies w.r.t. the time required for typical rest-to-rest transitions, and, moreover, w.r.t. their robustness to parameter variations.