Internal dynamics of multibody systems

TL;DR

This paper introduces a new coordinate framework for analyzing the internal dynamics of nonlinear multibody systems, simplifying their study without complex transformations, and provides stability conditions for certain systems.

Contribution

It presents a novel coordinate set for decoupling internal dynamics and derives stability conditions for systems with constant mass matrices, avoiding Byrnes-Isidori form computations.

Findings

Decoupling of internal dynamics without Byrnes-Isidori form

Sufficient conditions for stability of systems with constant mass matrix

Simplified analysis of nonlinear multibody systems

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.