State-switching control of the second-order chained form system

TL;DR

This paper introduces a novel control method for second-order chained form systems using state-switching and sinusoidal control, validated through simulation, to improve motion planning of complex interconnected subsystems.

Contribution

It proposes a new control approach based on state-switching for second-order chained form systems, combining sinusoidal control with state modifications.

Findings

Control approach effectively manages complex subsystems.

Simulation validates the proposed method.

State-switching influences nonlinear system behavior.

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.