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State-switching control of the second-order chained form system (2005.11114v1)
Published 22 May 2020 in eess.SY, cs.RO, and cs.SY
Abstract: This paper addresses a motion planning problem of the second-order chained form system. The author presents a novel control approach based on switching a state. The second-order chained form system is composed of three subsystems including two double integrators and a nonlinear system. Switching a single state of the double integrators can modify the nature of the nonlinear system. Such state-switching and sinusoidal control construct the basis of the proposed control approach. The effectiveness is validated by a simulation result.