论文标题
多体系统的内部动力学
Internal dynamics of multibody systems
论文作者
论文摘要
我们考虑非线性多体系统，并为内部动力学提供一组合适的坐标，这些坐标可以使内部动力学分离，而无需计算Byrnes-Isidori形式。此外，我们为系统参数提供了足够的条件，以使具有恒定质量矩阵的系统的内部动力学是有界输入的，有边界输出稳定的。
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.
