Section: Application Domains

Multibody Systems: Modeling, Control, Waves, Simulation

Multibody systems are assemblies of rigid or flexible bodies, typically modeled with Newton-Euler or Lagrange dynamics, with bilateral and unilateral constraints, with or without tangential effects like friction. These systems are highly nonlinear and nonsmooth, and are therefore challenging for modeling aspects (impact dynamics, especially multiple –simultaneous– collisions), feedback control [10], state observation, as well as numerical analysis and simulation (software development) [2], [4], [5]. Biped robots are a particular, interesting subclass of multibody systems subject to various constraints. Granular materials are another important field, in which nonlinear waves transmissions are crucial (one celebrated example being Newton's cradle) [17], [13], [6], [14]. Fibers assemblies [11], circuit breakers, systems with clearances, are also studied in the team.