2020/05/22 by Masahide Ito, Ito, Masahide
Computer Science · Engineering · #Adaptive Control of Nonlinear Systems #Control and Dynamics of Mobile Robots #Dynamics and Control of Mechanical Systems #cs.RO #cs.SY #eess.SY
paper · pdf · doi:10.48550/arxiv.2005.11114
3 pages, 1 figure; this contribution was accepted as a late-breaking result at the IFAC WC 2020
arxiv created 2020/05/22 · arxiv updated 2020/05/25
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.