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<p>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.</p>

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Port-Hamiltonian modeling of rigid multibody systems

  • 期刊论文

  • 出版模式：

    开放获取

  • 发表日期：

    2025年9月17日

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  • Thomas Berger,
  • René Hochdahl,
  • Timo Reis,
  • Robert Seifried

摘要

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.