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.
