Efficient and Robust Modeling of Nonlinear Mechanical Systems
Fuente:
arXiv
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| Autori principali: | , |
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| Natura: | Preprint |
| Pubblicazione: |
2026
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| _version_ | 1866911427860627456 |
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| author | Tebaldi, Davide Zanasi, Roberto |
| author_facet | Tebaldi, Davide Zanasi, Roberto |
| contents | The development of efficient and robust dynamic models is fundamental in the field of systems and control engineering. In this paper, a new formulation for the dynamic model of nonlinear mechanical systems, that can be applied to different automotive and robotic case studies, is proposed, together with a modeling procedure allowing to automatically obtain the model formulation. Compared with the Euler-Lagrange formulation, the proposed model is shown to give superior performances in terms of robustness against measurement noise for systems exhibiting dependence on some external variables, as well as in terms of execution time when computing the inverse dynamics of the system. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_06639 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Efficient and Robust Modeling of Nonlinear Mechanical Systems Tebaldi, Davide Zanasi, Roberto Systems and Control Robotics The development of efficient and robust dynamic models is fundamental in the field of systems and control engineering. In this paper, a new formulation for the dynamic model of nonlinear mechanical systems, that can be applied to different automotive and robotic case studies, is proposed, together with a modeling procedure allowing to automatically obtain the model formulation. Compared with the Euler-Lagrange formulation, the proposed model is shown to give superior performances in terms of robustness against measurement noise for systems exhibiting dependence on some external variables, as well as in terms of execution time when computing the inverse dynamics of the system. |
| title | Efficient and Robust Modeling of Nonlinear Mechanical Systems |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2602.06639 |