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Port-Hamiltonian modeling of rigid multibody systems
Citation Link: https://doi.org/10.15480/882.15951
Publikationstyp
Journal Article
Date Issued
2025
Sprache
English
TORE-DOI
Journal
Citation
Nonlinear Dynamics (in Press): (2025)
Publisher DOI
Scopus ID
Publisher
Springer
We employ a port-Hamiltonian approach to model nonlinear rigid multibody systems subject to both position and velocity constraints. Our formulation accommodates Cartesian and redundant coordinates, respectively, and captures kinematic as well as gyroscopic effects. The resulting equations take the form of nonlinear differential-algebraic equations that inherently preserve an energy balance. We show that the proposed class is closed under interconnection, and we provide several examples to illustrate the theory.
Subjects
Differential-algebraic equations
Dirac structures
Lagrangian submanifolds
Multibody systems
Port-Hamiltonian systems
Position and velocity constraints
Resistive relations
DDC Class
510: Mathematics
Publication version
publishedVersion
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s11071-025-11776-y.pdf
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555.84 KB
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