Aicardi, M.M.AicardiCannata, G.G.CannataCasalino, G.G.CasalinoIndiveri, G.G.Indiveri2022-03-032022-03-032001https://publica.fraunhofer.de/handle/publica/20066410.1177/02783640122067417In this paper the feedback control of a nonholonomic 3D vehicle is considered: namely, the problem of steering an underactuated rigid body to a target position along a desired direction is addressed. A simple rime-invariant strategy is determined on the basis of standard vector kinematics and a Lyapunov-like stability analysis. The resulting control law guarantees almost global exponential convergence of the configuration error to zero with paths that do not exhibit any cusps, thus satisfying a major requirement for the application of such results on real systems that are not allowed or desired to move in both the forward and backward directions.en005006629journal article