New approach using flatness-based control in high speed positioning: Experimental results

This paper discusses flatness-based control approaches to reduce oscillations on the load side of mechanical motion systems. Choosing a suitable trajectory is one essential step in implementing a flatness-based control. Existing approaches use slow polynomials or mathematically complex Gevrey-functions to achieve the necessary differentiability. Our approach combines the oscillation reduction of flatness-based control and the dynamic and simplicity of higher order Scurve trajectories generated by a convolution based algorithm. The performance and robustness of the presented methods is experimentally validated with a linear flexible motion system.