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：

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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。