I would like to generate a trajectory for a quadrotor UAV and I am using an architecture which allows to do so only by specifying position, velocity and acceleration.
I only know that I want to do a circle in 2D (fixed z for example) and therefore I should give a sine wave on the x and a cosine on the y.
So far everything is ok. I am working in MATLAB/Simulink and therefore to generate the position I simply use an integrator block and I get it.
What about the Acceleration? If I do just a derivative of the velocity my trajectory is not working, I don't know why. Is there a better way to do that? A friend suggested me a second order filter to generate the trajectory but I don't know what he really means.
Could you please help me?