A globally convergent steering algorithm for regular nonholonomic systems

We present a steering algorithm for regular – i.e., without singularities – nonholonomic systems which are not required to possess special properties such as flatness or exact nilpotentizability. The method makes use of local steering laws, with suitable contraction properties, designed on the basis of a continuous approximation of the system. The algorithm is amenable to extension to systems with singularities.