为车臂系统建立能量结构清晰的统一模型，便于控制与仿真。
The Port-Hamiltonian Structure of Vehicle Manipulator Systems
- 从哈密顿力学出发，构建能量流动明确的数学模型。
- 提出两种互补形式，分别适用于理论分析与实际控制设计。
- 避免局部参数化奇点，适合空中、水下等复杂机器人系统。
本文提出了车辆-机械臂系统（VMS）的端口-哈密顿建模方法，涵盖空中机械臂、水下机械臂、空间机器人及全向移动机械臂等多种复杂机器人系统。与现有拉格朗日方法相比，该方法显式揭示了系统的能量流动与守恒特性。基于哈密顿约化理论，从基本原理推导出端口-哈密顿动力学。提出两种互补形式：标准形式直接暴露能量结构，惯性解耦形式利用配置空间主丛结构，更适用于控制设计与数值模拟。所采用的无坐标几何方法避免了基底方向局部参数化带来的奇异性。严格证明了本文模型与已有约化欧拉-拉格朗日方程及玻尔兹曼-哈梅尔方程的数学等价性。
原文摘要 · Abstract (English)
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.
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