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Fiber-Normalized Manipulability and Determinant Proxies: Intrinsic Redundancy Optimization Across and Within Task Fibers
Antonio Franchi, Mirko Mizzoni
This work establishes that determinant-based manipulability is an exact objective for fixed-task redundancy optimization, despite its dependence on task coordinates and the choice…
Differential Realizability of Static Control Allocation in Multirotors: An Impossibility under Nonredundant Full Actuation and a Pseudoinverse Obstruction under Redundant Actuation
Antonio Franchi, Mirko Mizzoni
Control allocation for multirotors with bidirectional propellers is commonly formulated in signed-thrust variables, where the wrench map is linear. The signed-quadratic map from ph…
A Comparative Study of INDI and NDI with Nonlinear Disturbance Observer for Aerial Robotics
Benedetta Rota, Mirko Mizzoni, Amr Afifi +2
This work presents a simulation-based comparative robustness analysis of Incremental Nonlinear Dynamic Inversion (INDI) and Nonlinear Dynamic Inversion augmented with a nonlinear d…
Stability Analysis of Geometric Control for a Canonical Class of Underactuated Aerial Vehicles with Spurious Forces
Simone Orelli, Mirko Mizzoni, Antonio Franchi
Standard geometric control relies on force-moment decoupling, an assumption that breaks down in many aerial platforms due to spurious forces naturally induced by control moments. W…
Switching Among Feedback-Linearizing Output Sets (Melds): Dwell-Time and Compatibility Guarantees
Mirko Mizzoni, Pieter van Goor, Barbara Bazzana +1
We study switching among multiple square selections of output functions (melds) drawn from a deck of candidate outputs for nonlinear systems that are static feedback linearizable v…
Unified Feedback Linearization for Nonlinear Systems with Dexterous and Energy-Saving Modes
Mirko Mizzoni, Pieter van Goor, Antonio Franchi
Systems with a high number of inputs compared to the degrees of freedom (e.g. a mobile robot with Mecanum wheels) often have a minimal set of energy-efficient inputs needed to achi…