Nonlinear Control System Design Symposium 1998, NOLCOS98, Enschede,
The Netherlands, July 1-3, 1998, Vol. 1, pp. 245-250.
A nonlinear Variable Structure (VS) 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 derivatives 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 designs are considered. Performance of the nonlinear filter is tested in simulation.