Periodic motion planning and analytical computation of transverse linearizations for hybrid mechanical systems

This paper introduces a method for analytical planning of feasible hybrid periodic trajectories in nonfeedback-linearizable impulsive mechanical systems with control inputs. For a planned motion, a procedure for computation of a transverse linearization for a class of hybrid controlled mechanical systems with underactuation one is presented. The resulting linear comparison system can be used for stability analysis and for design of orbitally stabilizing controllers.