Energetic decomposition of distributed systems with moving material domains: The port-Hamiltonian model of fluid-structure interaction

We introduce the geometric structure underlying the port-Hamiltonian models for distributed parameter systems exhibiting moving material domains. The first part of the paper aims at introducing the differential geometric tools needed to represent infinite-dimensional systems on time–varying spatial domains in a port–based framework. A throughout description on the way we extend the structure presented in the seminal work [25], where only fixed spatial domains were considered, is carried through. As application of the proposed structure, we show how to model in a completely coordinate-free way the 3D fluid–structure interaction model for a rigid body immersed in an incompressible viscous flow as an interconnection of open dynamical subsystems.