Internal dynamics of multibody systems
Dynamical Systems
2021-03-23 v2
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.
Cite
@article{arxiv.2009.08726,
title = {Internal dynamics of multibody systems},
author = {Lukas Lanza},
journal= {arXiv preprint arXiv:2009.08726},
year = {2021}
}