Nonlinear Control Analysis on Nonholonomic Dynamic Systems with Affine Constraints

This paper deals with nonholonomic control systems subject to affine constraints. We first derive several preliminary properties of nonholonomic dynamic systems with affine constraints (NDSAC). We then investigate local accessibility and local controllability of the NDSAC based on both Sussmann's theorem and linear approximation approaches. Conditions for local asymptotic stabilizability of the NDSAC by linear state feedback and nonlinear smooth state feedback are also derived. Finally, two physical examples are illustrated to confirm the results.