Introduction

Abstract

Multibody system dynamics deals with the modeling, analysis, and simulation of mechanical and mechatronic systems undergoing large nonlinear motion. Underactuated multibody systems are an interesting type of controlled multibody systems, which are characterized by possessing less actuators than degrees of freedom. The treatment of such multibody systems is a theoretically challenging task with increasing relevance for industry and requires advanced modern methods in modeling, control design and system optimization. These are the centerpiece of this book, and this chapter gives a short introduction to this book.