Year: 2026
Type: article
Abstract: 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.
DOI: 10.5687/iscie.39.224
Authors: Yuki Sugiura, Tomoya Kitamura, Hisakazu Nakamura
Institution: Tokyo University of Science
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: diamond
OpenAlex ID: W7212644983
FWCI:
Cites:
Cited by:
Related to: