Input Dexterity and Output Negotiation in Feedback-Linearizable Nonlinear Systems
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arXiv
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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2026
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| _version_ | 1866912955672559616 |
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| author | Mizzoni, Mirko van Goor, Pieter Bazzana, Barbara Franchi, Antonio |
| author_facet | Mizzoni, Mirko van Goor, Pieter Bazzana, Barbara Franchi, Antonio |
| contents | We introduce a task-relative taxonomy of actuator inputs for nonlinear systems within the input-output feedback-linearization framework. Given a flat output specifying the task, inputs are classified as essential, redundant, or dexterity: essential inputs are required for exact linearization, redundant inputs can be removed without effect, and dexterity inputs can be deactivated while preserving exact linearization of a reduced task. We show that a subset is dexterity if and only if, under a suitable dynamic prolongation, it can appear as additional output channels (flat-input complement) on a common validity set. Whenever a family of systems obtained by (de)activating dexterity inputs admits a common prolongation, the family can be interpreted as a single prolonged system endowed with different output selections. This enables a unified linearizing controller that negotiates between full and reduced tasks without transients on shared outputs under compatibility and dwell-time conditions. Simulations on a fully actuated aerial platform illustrate graceful task downgrades from six-dimensional pose tracking as lateral-force channels are deactivated. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_08480 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Input Dexterity and Output Negotiation in Feedback-Linearizable Nonlinear Systems Mizzoni, Mirko van Goor, Pieter Bazzana, Barbara Franchi, Antonio Systems and Control Dynamical Systems We introduce a task-relative taxonomy of actuator inputs for nonlinear systems within the input-output feedback-linearization framework. Given a flat output specifying the task, inputs are classified as essential, redundant, or dexterity: essential inputs are required for exact linearization, redundant inputs can be removed without effect, and dexterity inputs can be deactivated while preserving exact linearization of a reduced task. We show that a subset is dexterity if and only if, under a suitable dynamic prolongation, it can appear as additional output channels (flat-input complement) on a common validity set. Whenever a family of systems obtained by (de)activating dexterity inputs admits a common prolongation, the family can be interpreted as a single prolonged system endowed with different output selections. This enables a unified linearizing controller that negotiates between full and reduced tasks without transients on shared outputs under compatibility and dwell-time conditions. Simulations on a fully actuated aerial platform illustrate graceful task downgrades from six-dimensional pose tracking as lateral-force channels are deactivated. |
| title | Input Dexterity and Output Negotiation in Feedback-Linearizable Nonlinear Systems |
| topic | Systems and Control Dynamical Systems |
| url | https://arxiv.org/abs/2603.08480 |