This report considers trajectory planning with given design constraints and design of an appropriate feedforward controller for single axis motion control. A motivation is given for using fourth order feedfonvard with fourth order trajectories. An algorithm is given for calculating hqjher 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 eqmtions for third and fourth order trajectory planning are explicitly derived. Implementation, discretization and quantization effects are considered. Simulation results show the effectiveness of fourth order feedfonvard in comparison with lower order feedforward.

Abstract-This paper considers model-based feedforward for motion systems. The proposed feedforward controller consists of an acceleration feedforward part and an inverse dynamics model of flexible modes. Based on analysis and H∞ model-based feedforward design, the inverse dynamics part can be restricted to a second order filter in the form of a skew notch even if the motion system has more parasitic modes. The benefit of this is an on-line tuning possibility. Tracking errors and settling times can be reduced significantly compared to acceleration feedforward.

This paper considers the problem of output feedback trajectory tracking with a unicycle mobile robot system. A state-feedback controller for the non-linear error dynamics of the robot is combined with an observer that estimates the orientation error based on available trajectory information and measurement of the position coordinates. A stability analysis, derivation and implementation of the resulting controller is given and tested on an experimental mobile robot.

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