Work

Orbital Stabilization of Hybrid Mechanical Systems—A Port‐Hamiltonian Approach

Year: 2026

Type: article

Abstract: ABSTRACT In this article, we address the problem of stabilizing hybrid periodic orbits in mechanical systems characterized by both continuous and discrete dynamics. We introduce a total energy shaping controller, formulated in the port‐Hamiltonian framework, that guarantees asymptotic orbital stability of a prescribed hybrid periodic orbit. The approach ensures asymptotic stability by systematically regulating the system's energy, leveraging Lyapunov‐based analysis to guarantee boundedness across both flow and jump phases. The effectiveness of the proposed control law is demonstrated through numerical simulations, including its application to a 3‐DOF manipulator tasked with pushing an object.

Source: International Journal of Robust and Nonlinear Control

DOI: 10.1002/rnc.70794

Authors: Thomas O'Brien, Joel Ferguson, Alejandro Donaire

Institutions: University of Newcastle Australia, National University of Ireland, Maynooth

Language: English

Topic: Control and Stability of Dynamical Systems

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $4,270

Funder: Australian Government