The Port-Hamiltonian Structure of Vehicle Manipulator Systems
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arXiv
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| Format: | Preprint |
| Publié: |
2026
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| _version_ | 1866912971294244864 |
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| author | Rashad, Ramy |
| author_facet | Rashad, Ramy |
| contents | This paper presents a port-Hamiltonian formulation of vehicle-manipulator systems (VMS), a broad class of robotic systems including aerial manipulators, underwater manipulators, space robots, and omnidirectional mobile manipulators. Unlike existing Lagrangian formulations that obscure the underlying energetic structure, the proposed port-Hamiltonian formulation explicitly reveals the energy flow and conservation properties of these complex mechanical systems. We derive the port-Hamiltonian dynamics from first principles using Hamiltonian reduction theory. Two complementary formulations are presented: a standard form that directly exposes the energy structure, and an inertially-decoupled form that leverages the principal bundle structure of the VMS configuration space and is particularly suitable for control design and numerical simulation. The coordinate-free geometric approach we follow avoids singularities associated with local parameterizations of the base orientation. We rigorously establish the mathematical equivalence between our port-Hamiltonian formulations and existing reduced Euler-Lagrange and Boltzmann-Hamel equations found in the robotics and geometric mechanics literature. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_16882 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | The Port-Hamiltonian Structure of Vehicle Manipulator Systems Rashad, Ramy Systems and Control Robotics Differential Geometry This paper presents a port-Hamiltonian formulation of vehicle-manipulator systems (VMS), a broad class of robotic systems including aerial manipulators, underwater manipulators, space robots, and omnidirectional mobile manipulators. Unlike existing Lagrangian formulations that obscure the underlying energetic structure, the proposed port-Hamiltonian formulation explicitly reveals the energy flow and conservation properties of these complex mechanical systems. We derive the port-Hamiltonian dynamics from first principles using Hamiltonian reduction theory. Two complementary formulations are presented: a standard form that directly exposes the energy structure, and an inertially-decoupled form that leverages the principal bundle structure of the VMS configuration space and is particularly suitable for control design and numerical simulation. The coordinate-free geometric approach we follow avoids singularities associated with local parameterizations of the base orientation. We rigorously establish the mathematical equivalence between our port-Hamiltonian formulations and existing reduced Euler-Lagrange and Boltzmann-Hamel equations found in the robotics and geometric mechanics literature. |
| title | The Port-Hamiltonian Structure of Vehicle Manipulator Systems |
| topic | Systems and Control Robotics Differential Geometry |
| url | https://arxiv.org/abs/2603.16882 |