Optimal transport of two ions under slow spring-constant drifts

We investigate the effect of slow spring-constant drifts of the trap used to shuttle two ions of different mass. We design transport protocols to suppress or mitigate the final excitation energy by applying invariant-based inverse engineering, perturbation theory, and a harmonic dynamical normal-mode approximation. A simple, explicit trigonometric protocol for the trap trajectory is found to be robust with respect to the spring-constant drifts. (paper)