This paper discusses the theory of oscillatory normal modes, and its extension to general multi-body mechanical systems. We first review the efforts to generalize modal analysis to the non-linear case. This body of knowledge is vast and spread across several subfields of mathematics, physics, and engineering. We concisely summarize these results, and connect them together using a language familiar to the control theorist. We then propose a direct way of extending nonlinear modes to mechanical systems with a non Euclidean metrics (e.g. robots).


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    Title :

    A review on nonlinear modes in conservative mechanical systems



    Published in:

    Publication date :

    2020-10-28



    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English




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