The trajectories should be generaded using proportional regulators with limited output. The example of such regulator in pseudo-code:

error_x = dest_x - measured_x
u_x = gain_P * error_x
if u_x > u_max then
    u_x = u_max
else if u_x < u_min then
    u_x = u_min
end

where:

• measured_x is the current value of the controlled state variable x
• dest_x is its desired value
• error_x is the error
• gain_P is the proportional regulator gain
• u_min and u_max are the limits of the output u_x