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math.DS2026
Port-Hamiltonian modelling of coupled rigid/flexible multibody systems
Thomas Berger, René Hochdahl, Timo Reis +1
We develop a port-Hamiltonian framework for coupled rigid/flexible multibody systems. The rigid dynamics may be nonlinear and subject to configuration and velocity constraints, whi…
math.DS2025
Port-Hamiltonian modeling of rigid multibody systems
Thomas Berger, René Hochdahl, Timo Reis +1
We employ a port-Hamiltonian approach to model nonlinear rigid multibody systems subject to both position and velocity constraints. Our formulation accommodates Cartesian and redun…