Robust approximation error estimates for analysis-suitable $G^1$ isogeometric multi-patch discretizations

We prove $p$-robust approximation error estimates for $H^2$-conforming isogeometric discretizations over planar multi-patch domains. Possible applications are fourth order boundary value problems, like the biharmonic equation or Kirchhoff-Love plates. Using Isogeometric Analysis, such conforming discretizations can be constructed effortlessly for the single-patch case. In order to obtain a globally $H^2$-conforming discretization in the multi-patch case, the functions must be $C^1$-smooth across the interfaces between the patches. To obtain optimal approximation properties, those $C^1$-smooth spaces must also reproduce splines of sufficiently high degree for traces and transversal derivatives at all patch interfaces. Such constructions are based on some assumptions on the geometry. We restrict ourselves to the class of analysis-suitable $G^1$ (AS-$G^1$) multi-patch domains, which is the subset of $C^0$-matching multi-patch domains that allows the definition of spline spaces that yield the necessary reproduction properties without the need to locally increase the degree. While approximation error estimates have been established for single-patch and $C^0$ isogeometric multi-patch spaces, corresponding results for the $C^1$ multi-patch setting have been missing. The resulting bounds on the approximation error depend on the geometry parameterization and on the Sobolev regularity of the target function, but are independent of the spline degree $p$.