Nonlinear Filter for Smooth Trajectory Generation

A nonlinear Variable Structure system is presented for smooth trajectory generation in motion control system. Joined to a rough reference trajectory generator (step, ramp, etc.) it provides smooth output signals according to user selectable bounds on trajectory derivatives. The bounds on output deriv_tives can be changed during system operation without impairing system stability. Moreover, almost "minimum time'' response is ensured with guaranteed no overshoot. Both the continuous and discrete-time cases are considered. Performance of the nonlinear filter is tested in simulation.