Dynamical systems are often subject to algebraic constraints in conjunction with their
governing ordinary differential equations. In particular, multibody systems are commonly
subject to configuration constraints that define kinematic compatibility between the motion of
different bodies. A full-scale numerical simulation of such constrained problems is
challenging, making reduced-order models (ROMs) of paramount importance. In this work,
we show how to use spectral submanifolds (SSMs) to construct rigorous ROMs for …

Dynamical systems are often subject to algebraic constraints in conjunction with their
governing ordinary differential equations. In particular, multibody systems are commonly
subject to configuration constraints that define kinematic compatibility between the motion of
different bodies. A full-scale numerical simulation of such constrained problems is
challenging, making reduced-order models (ROMs) of paramount importance. In this work,
we show how to use spectral submanifolds (SSMs) to construct rigorous ROMs for …