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By using an indirect variational solution method, the necessary optimality conditions deriving from the Pontryagin's minimum principle are imposed, and lead to a differential Two-Point Boundary Value Problem (TPBVP); numerical solution of the latter is accomplished by means of collocation techniques. The robustness to parametric mismatches is obtained trough the use of sensitivity functions, while a hard constraint on actuator effort is obtained using a smoothing technique. Numerical results shows that the robustness can be greatly improved, and that the inclusion of constraints on actuator effort does not affect it.<\/jats:p>","DOI":"10.1017\/s0263574714002239","type":"journal-article","created":{"date-parts":[[2014,8,15]],"date-time":"2014-08-15T10:54:53Z","timestamp":1408100093000},"page":"1243-1259","source":"Crossref","is-referenced-by-count":17,"title":["Optimal trajectory planning for nonlinear systems: robust and constrained solution"],"prefix":"10.1017","volume":"34","author":[{"given":"P.","family":"Boscariol","sequence":"first","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"A.","family":"Gasparetto","sequence":"additional","affiliation":[],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"56","published-online":{"date-parts":[[2014,8,15]]},"reference":[{"key":"S0263574714002239_ref6","doi-asserted-by":"publisher","DOI":"10.1016\/j.conengprac.2011.05.006"},{"key":"S0263574714002239_ref4","first-page":"929","article-title":"Rest-to-rest Motion of a Two-link Robot with a Flexible Forearm","volume":"2","author":"De Luca","year":"2001","journal-title":"Proceedings. 2001 IEEE\/ASME International Conference on Advanced Intelligent Mechatronics, 2001"},{"key":"S0263574714002239_ref30","first-page":"3064","article-title":"Desensitized Minimum Power\/Jerk Control Profiles for Rest-to-rest Maneuvers","volume":"5","author":"Hindle","year":"2000","journal-title":"Proceedings of the 2000 American Control Conference, 2000"},{"key":"S0263574714002239_ref27","doi-asserted-by":"publisher","DOI":"10.1109\/TAC.1987.1104523"},{"key":"S0263574714002239_ref40","unstructured":"P. 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