Description: This report considers trajectory planning with constrained dynamics and design of an appropriate
feedforward controller for single axis motion control. A motivation is given for using
model-based fourth order feedforward with fourth order trajectories. An algorithm is given
for calculating higher order trajectories with bounds on all considered derivatives for point to
point moves. It is shown that these trajectories are time-optimal in the most relevant cases.
All required equations for third and fourth order trajectory planning are explicitly derived.
Implementation, discretization and quantization effects are considered. Simulation results
show the superior effectiveness of fourth order feedforward in comparison with rigid-body
feedforward
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Advanced_Setpoints.pdf
Advanced_Setpoints_Exercises.pdf
Advanced_Setpoints_Report.pdf
bad_idea.mdl
make2.m
make3.m
make4.m
make4_it.m
makeplant.m
motion.mdl
motion_example1.mdl
motion_example2.mdl
motion_example3.mdl
profile3.m
profile4.m
readme.txt
recalc.m
ref4_rt.mdl
ref4_xy.mdl
license.txt
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