二阶链式系统的状态切换控制
State-switching control of the second-order chained form system
摘要：
研究了二阶链式系统的运动规划问题。作者提出了一种新的控制方法的基础上切换状态。二阶链式系统由两个双积分器和一个非线性系统组成。切换双积分器的单个状态可以修改非线性系统的性质。这种状态切换和正弦控制构成了所提出的控制方法的基础。仿真结果验证了该方法的有效性。
英文摘要：
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.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
