Asymptotic Stabilization of Nonholonomic Robots Leveraging Singularity.

Due to the nonholonomic constraints as well as the constraints on torque and power resources, it is challenging to design a controller to asymptotically stabilize a nonholonomic robot at a predefined pose. In this paper, a switched controller is introduced for the asymptotic stabilization of nonholonomic robots using singularity, which is deemed undesirable due to loss of controllability. The prop...