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State-switching control of the second-order chained form system
arXiv - CS - Robotics Pub Date : 2020-05-22 , DOI: arxiv-2005.11114 Masahide Ito
arXiv - CS - Robotics Pub Date : 2020-05-22 , DOI: arxiv-2005.11114 Masahide Ito
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.
中文翻译:
二阶链式系统的状态切换控制
本文解决了二阶链式系统的运动规划问题。作者提出了一种基于状态切换的新型控制方法。二阶链式系统由三个子系统组成,包括两个双积分器和一个非线性系统。切换双积分器的单一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。仿真结果验证了有效性。
更新日期:2020-05-25
中文翻译:
二阶链式系统的状态切换控制
本文解决了二阶链式系统的运动规划问题。作者提出了一种基于状态切换的新型控制方法。二阶链式系统由三个子系统组成,包括两个双积分器和一个非线性系统。切换双积分器的单一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。仿真结果验证了有效性。