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ON THE STABILIZATION OF THE UNICYCLE MODEL PROJECTING A HOLONOMIC SOLUTION

It is shown that, adopting a polar-like kinematic description of the Cartesian unicycle nonholonomic vehicle in order to prevent Brocketts negative result, a stabilizing time-invariant feedback law can be simply obtained projecting a suitable holonomic linear velocity on the nonholonomic linear velocity axis and superimposing an angular velocity that asymptotically steers such axis parallel to the holonomic velocity vector.