Port-Hamiltonian modeling of rigid multibody systems
Fuente:
arXiv
Saved in:
| Main Authors: | , , , |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866915256264032256 |
|---|---|
| author | Berger, Thomas Hochdahl, René Reis, Timo Seifried, Robert |
| author_facet | Berger, Thomas Hochdahl, René Reis, Timo Seifried, Robert |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_17063 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Port-Hamiltonian modeling of rigid multibody systems Berger, Thomas Hochdahl, René Reis, Timo Seifried, Robert Dynamical Systems 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. |
| title | Port-Hamiltonian modeling of rigid multibody systems |
| topic | Dynamical Systems |
| url | https://arxiv.org/abs/2504.17063 |