Nonlinear filters for the generation of smooth trajectories

Feedforward Control Design for Finite-Time Transition Problems of Nonlinear Systems With Input and Output Constraints

“…• constrained online trajectory generation (Zanasi et al, 2000) • aircraft guidance (Miquel et al, 2005) • anti-sway control of cranes (Neupert et al, 2005) Table 1.1: Overview on offline and online feedforward control design depending on its application.…”

“…This is accomplished by constructing a dynamic system in new coordinates. Its numerical 1 An interesting approach for the online generation of the output trajectory y * (t) with constraints on the first and second output derivativeẏ * (t) andÿ * (t) can be found in (Zanasi et al, 2000).…”

Control and performance evaluation of a clutch servo system with hydraulic actuation

“…As already described, it can be thought as a fast inner loop whose dynamics is neglected. In the controller block diagram, the nonlinear filter proposed in Zanasi, Guarino Lo Bianco, and Tonielli (2000) is used for the generation of the smooth position reference x à and its time derivatives…”

A practically efficient method for motion control based on asymmetric velocity profile

“…Meckl and Arestides [5] optimized the parameters of the S-curve profile to minimize the residual vibration. Also, Zanasi et al [10] proposed a nonlinear filter satisfying the velocity and acceleration constraints for achieving the smooth motion. In addition, it is known that the residual vibration can be effectively reduced by combining the input-shaping technique with the predetermined velocity profile when the system is exactly identified [8].…”