Modeling and Analysis of Nonholonomic Dynamic Systems with Affine Constraints

This paper is concerned with modeling and theoretical analysis on nonlinear dynamic systems subject to nonholonomic affine constraints. First, we give some definitions and concepts on the affine constraints. Next, nonholonomic dynamic systems with affine constraints (NDSAC) are derived, and their normal forms and linear approximated systems are also shown. We then analyze the NDSAC from the viewpoint of nonlinear control theory, and especially focus on accessibility, controllability and stabilizability. Finally, some physical examples are illustrated to verify our results.