Nonholonomic dynamics of the dissipative Twistcar vehicle – towards an actuated system with passivity

Underactuated wheeled vehicles are commonly studied as nonholonomic systems with periodic actuation.Twistcar is a classic example inspired by a riding toy, which has been analyzed using a planar model of a dynamical
system with nonholonomic constraints. Prior analytical investigations of this model, under the assumption of zero dissipation, have revealed nonlinear phenomena, including direction reversals depending on the geometric and
mass properties of the vehicle. Motivated by the dissipative and bounded motion observed in experiments with Twistcar robotic prototypes, in this work, we extend the analysis of the model to a dissipative system