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20232026
most citedMixed formulation and structure-preserving discretization of Cosserat rod dynamics in a port-Hamiltonian framework

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math.DS2026

Port-Hamiltonian multibody dynamics: Lagrangian formulation, consistent interconnection, structure-preserving simulation and index-reduction

Lisa Latussek, Philipp L. Kinon, Peter Betsch

This work introduces a port-Hamiltonian (PH) model for constrained mechanical systems, which is directly derived from the Lagrangian equations of motion. The present PH framework i…