The development of efficient and robust dynamic models is fundamental in the field of systems and control engineering. In this paper, a new formulation for the dynamic model of nonlinear mechanical systems, that can be applied to different automotive and robotic case studies, is proposed, together with a modeling procedure allowing to automatically obtain the model formulation. Compared with the Euler-Lagrange formulation, the proposed model is shown to give superior performances in terms of robustness against measurement noise for systems exhibiting dependence on some external variables, as well as in terms of execution time when computing the inverse dynamics of the system.

翻译：高效鲁棒动态模型的开发是系统与控制工程领域的基石。本文提出了一种适用于不同汽车与机器人案例研究的非线性机械系统动态模型新表述，并同时提出了一种可自动获取该模型表述的建模流程。与欧拉-拉格朗日表述相比，所提模型在以下两方面展现出更优性能：对于依赖某些外部变量的系统，其具有更强的测量噪声鲁棒性；在计算系统逆动力学时，其具有更短的计算执行时间。