In general, multibody models are described with a set of redundant coordinates and
additional constraints. Their dynamics is thus expressed through differential algebraic …

Model-based force estimation is an emerging methodology in the mechatronic community
given the possibility to exploit physically inspired high-fidelity models in tandem with ready …

This work is a preliminary study on the use of the extended Kalman filter (EKF) for the state
estimation of multibody systems. The observers based on the EKF are described by first …

Among the proposed formulations for rigid multibody dynamics, the minimal coordinates
approach permits to parametrize the system motion with the minimal amount of degrees of …

The aim of this work is to provide a thorough research on the implementation of some non-
linear Kalman filters (KF) using multibody (MB) models and to compare their performances …

This paper discusses the use of Subsystem Global Modal Parameterization (SS-GMP)
reduced multibody models in an augmented discrete extended Kalman filter (A-DEKF) to …

This study investigates the use of linear-regression-based identification in rigid multibody
system applications. A multibody system model, originally described with differential …

This work proposes an Augmented Manifold Differential-Algebraic Extended Kalman Filter
for state and input estimation for multibody systems described by a set of differential …

The aim of this work is to present two new methods to provide state observers by combining
multibody simulations with indirect extended Kalman filters. One of the methods presented …

Over the years, a wide range of generalized coordinates have been proposed to describe
the motion of rigid and flexible multibody systems. Depending on the type of formulation, a …