Fig. 1. Block diagram of command shaper based on closed-loop feedback control

Fig. 2. Command shaping results based on closed-loop feedback control

Fig. 3. Variation curves of vcmd and vdec

Fig. 4. Results of trapezoidal command shaping algorithm

Fig. 5. Results of trapezoidal command shaping algorithm with acceleration limit of 30 （°）/s²

Fig. 6. Curves of hyperbolic tangent function

Fig. 7. Comparison between approximate optimal command shaping algorithm and traditional trapezoidal command shaping algorithm

Fig. 8. Comparison of position step response

Fig. 9. Schematic diagram of telescope step searching target

Fig. 10. Block diagram of position closed-loop control structure based on trajectory planning

Fig. 11. Comparison results of command shaping for 2.5° step signal

Fig. 12. Comparison results of command shaping

Fig. 13. Comparison of position response for 2.5° step signal

Fig. 14. Comparison of position response for 30° step signal

Fig. 15. Comparison of steady-state errors in position response