Abstract
This paper addresses analysis of nonlinear kinematic systems subject to nonholonomic affine constraints based on nonlinear control theory. We first give some definitions and concepts on affine constraints and affine/non-affine variables. Next, nonholonomic kinematic systems with affine constraints (NKSAC), which are kinematic models of systems subject to the affine constraints, are derived. We then analyze the NKSAC from the viewpoint of nonlinear control theory. Especially, we focus on local accessibility, local controllability and local asymptotic stabilizability of the NKSAC. Finally, some physical examples are shown in order to confirm our results.
