Unified Feedback Linearization for Nonlinear Systems with Dexterous and Energy-Saving Modes

TL;DR

This paper introduces a unified feedback linearization control scheme for nonlinear systems that can switch between energy-saving and dexterous modes, ensuring task tracking and independent dynamics despite switching.

Contribution

It develops a novel control method that seamlessly switches between modes, guaranteeing exponential tracking and independent main task dynamics in nonlinear systems.

Findings

Effective switching between modes demonstrated in simulations

Guarantees exponential tracking in both modes

Main task dynamics remain independent of switching signal

Abstract

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 achieve a main task (e.g. position tracking) and a set of energy-intense inputs needed to achieve an additional auxiliary task (e.g. orientation tracking). This letter presents a unified control scheme, derived through feedback linearization, that can switch between two modes: an energy-saving mode, which tracks the main task using only the energy-efficient inputs while forcing the energy-intense inputs to zero, and a dexterous mode, which also uses the energy-intense inputs to track the auxiliary task as needed. The proposed control guarantees the exponential tracking of the main task and that the dynamics associated with the main task evolve independently of the a priori unknown switching signal. When the control is operating in dexterous mode, the exponential tracking of the auxiliary task is also guaranteed. Numerical simulations on an omnidirectional Mecanum wheel robot validate the effectiveness of the proposed approach and demonstrate the effect of the switching signal on the exponential tracking behavior of the main and auxiliary tasks.