Robust transient oscillation reduction for rest-to-rest motion of underactuated multibody systems

Abstract Conventional model-based design methods are often limited in their effectiveness by model-plant discrepancy. A solution to this problem is proposed work enhance the robustness of motion planning for systems affected parametric uncertainty. The method exploits a variational formulation form two-point boundary value (TPBVP) which achieved as constraint enforced at two boundaries. formulation, specifically targeted underactuated systems, aims reducing both transient and residual vibrations, well mitigating actuation effort. development supported its application numerical test-cases double pendulum on cart translating flexible beam.