Control algorithm for a two-inputs nonholonomic kinematics using polar transformation

The paper considers the convergence problem for a two input affine nonholonomic driftless system with three-dimensional state. The problem is solved using time-invariant static-state feedback and polar transformation which is singular at the origin. The given solution, in general, is local, and the feasible domain is dependent on the properties of the control system. Theoretical considerations are illustrated for the particular system and the results of numerical simulations are presented.