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eess.SY2026
Input Dexterity and Output Negotiation in Feedback-Linearizable Nonlinear Systems
Mirko Mizzoni, Pieter van Goor, Barbara Bazzana +1
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, in…
eess.SY2024★ 1 cited
Input-Output Extension of Underactuated Nonlinear Systems
Mirko Mizzoni, Amr Afifi, Antonio Franchi
This letter proposes a method to integrate auxiliary actuators that enhance the task space capabilities of commercial underactuated systems, leaving the internal certified low leve…