Robustness improvement of trajectory planning algorithms

In this paper the topic of robust model based trajectory planning for mechatronic systems is dealt with. The aim is to improve, using sensitivity techniques, the robustness to parametric mismatches of commonly used indirect variational methods. The necessary optimality conditions are derived using Pontryagin’s minimum principle, and the robustness condition are obtained by imposing boundary constraints on sensitivity functions. Unlike other methods available in literature, the proposed method can be applied to nonlinear models. Several test cases are reported to show the unconstrained and the constrained solution for nonlinear mechatronic systems.