Trajectory Tracking Control of Electric Wheelchair Based on Global Trajectory Planning

We propose integrated framework for the autonomous navigation of electric wheelchairs that combines optimal trajectory planning with high-performance trajectory tracking control. Specifically, we introduce a novel trajectory optimization method that prevents excessive control inputs at the boundaries, along with a trajectory tracking control law that preserves the performance of the Linear Quadratic Regulator (LQR). Moreover, we prove that the proposed tracking control law, unlike conventional methods designed for continuous and differentiable trajectories, can be applied to target trajectories with discontinuous inputs. Furthermore, we guarantee solution existence, asymptotic stability, and robustness. Finally, the effectiveness of the proposed framework is confirmed through simulation.