teddyort
commented
4 years ago Solved by using bang-bang control with constant positive and negative acceleration for triangular velocity profiles. In the event the velocity exceeds safe limits, the profile is clipped to a trapezoid with height equal to the maximum safe velocity.
Implemented in https://github.com/mit-drl/e-vent/pull/59
Account for constant acceleration by choosing max velocities that give the correct average velocity given the trapezoidal velocity profile we execute.