This is the project website accompanying the paper "Ignore Drift, Embrace Simplicity: Constrained Nonlinear Control through Driftless Approximation", a.k.a. Driftlessification. This website contains additional illustrations that are not present in the online version of the paper, demonstrating the performance of this technique.
The repository Constrained-NL-Control contains a simple code accompanying this project.
(Fun fact: the word driftlessification doesn't appear anywhere in the paper.)