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September 18, 2025Nonlinear DynamicsOpen Access

Port-Hamiltonian modeling of rigid multibody systems

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This approach captures nonlinear dynamics and energy preservation in multibody systems, indicating robust modeling techniques.

The proposed method retains energy balance while modeling nonlinear rigid multibody systems with constraints.
Nonlinear differential-algebraic equations result from the port-Hamiltonian formulation, embodying both kinematic and gyroscopic effects.
The formulation supports both Cartesian and redundant coordinates, enhancing flexibility in modeling multibody systems.
Interconnection closure of the proposed class allows for systematic integration of multibody system models.

Berger et al. (2025) studied this question.

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