论文标题
二级链式系统的状态切换控制
State-switching control of the second-order chained form system
论文作者
论文摘要
本文解决了二级链式形式系统的运动计划问题。作者提出了一种基于切换状态的新型控制方法。二阶链式系统系统由三个子系统组成，包括两个双集成符和一个非线性系统。切换双重积分器的单个状态可以修改非线性系统的性质。这种状态转换和正弦控制构建了拟议的控制方法的基础。有效性通过模拟结果验证。
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.
