Internal dynamics of multibody systems

摘要

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. (C) 2021 Elsevier B.V. All rights reserved.