Input-Output Extension of Underactuated Nonlinear Systems

Abstract

This letter addresses the challenge of enhancing the task-space capabilities of commercial underactuated systems through the integration of auxiliary actuators, while preserving their internal control architecture. We propose a method where additional actuators are combined with a feedback-linearizing outer loop controller, enabling full-pose tracking without modifying the platform's certified low-level controller. The key contribution is a theoretical framework establishing conditions under which legacy high-level commands and new actuator inputs can be cohesively coordinated to achieve decoupled control of all degrees of freedom. These conditions are validated through numerical simulations on a quadrotor retrofitted with two additional propellers. The results demonstrate stable 6D trajectory tracking, highlighting the method's ability to reconcile enhanced dexterity with industrial constraints such as certification and safety.

Tasks

Reproductions