Discrete second order trajectory generator with nonlinear constraints

A discrete second order trajectory generator for motion control systems is presented. The considered generator is a nonlinear system which receives as input a raw reference signal and provides as output a smooth reference signal satisfying nonlinear constraints on the output derivatives as UM-(x) ≤ x ≤ UM+(x) and VM- ≤ x ≤ VM+. The trajectory is generated on-line and the imposed constraints can also be changed during system operation without modifying the system stability. Moreoever, almost minimum time response is ensured with guaranteed no overshoot. The performances of the nonlinear generator are tested through experiments on a linear motor.