Robust point-to-point trajectory planning for nonlinear underactuated systems: Theory and experimental assessment

Robustness is achieved by including additional conditions on the sensitivity functions for the initial and final points of the trajectory. The experimental evaluation of the effectiveness of the proposed method is performed on a double-pendulum crane, by comparing the transient and residual vibration. A comparison is provided with three well-established input-shaping methods, and robustness against unmodeled parametric perturbations and tracking errors is evaluated. The experimental evidence indicates that the inclusion of the additional constrains results in an effective reduction of the residual vibration, and that the proposed method is well suited to perform high speed motion.