  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.
