Input-Output Extension of Underactuated Nonlinear Systems
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.
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