Internal dynamics of multibody systems

Lukas Lanza

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arXiv · 2009.08726

Internal dynamics of multibody systems

Lukas Lanza

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Abstract

We consider nonlinear multibody systems and present a suitable set of coordinates for the internal dynamics which allow to decouple the internal dynamics without the need to compute the Byrnes-Isidori form. Furthermore, we derive sufficient conditions for the system parameters such that the internal dynamics of a class of systems with constant mass matrix are bounded-input, bounded-output stable.

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Lukas Lanza. 2020-09-18. Internal dynamics of multibody systems. https://arxiv.org/abs/2009.08726

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