Z. Li, W. Gao, C. Goh, M. Yuan, E. K. Teoh and Q. Ren, "Asymptotic Stabilization of Nonholonomic Robots Leveraging Singularity," in IEEE Robotics and Automation Letters, vol. 4, no. 1, pp. 41-48, Jan. 2019. doi: 10.1109/LRA.2018.2878605
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 asymptotic stabilization of nonholonomic robots using singularity which is deemed undesirable due to loss of controllability. The proposed controller is inspired by a new insight on the singularity set of the nonholonomic robot, i.e. the singularity set includes a subset which can be asymptotically stabilized. The proposed controller is applicable to chained form systems that make an important class of drift-less nonholonomic systems, especially for those robots with differential-drive mechanism. Considering its simplicity and efficiency, our method has the potential to be used in practice.