一种可切换节能与灵巧模式的统一控制方法，提升机器人能效与任务精度。
Unified Feedback Linearization for Nonlinear Systems with Dexterous and Energy-Saving Modes
- 基于反馈线性化设计统一控制器，支持模式自动切换。
- 主任务跟踪指数收敛，辅助任务在灵巧模式下同样指数收敛。
- 适用于多输入少自由度系统，如全向轮机器人，适合高能效场景。
当系统输入数远超自由度（如配备麦克纳姆轮的移动机器人）时，通常存在一组能耗低的输入用于完成主要任务（如位置跟踪），以及一组能耗高的输入用于完成附加辅助任务（如方向跟踪）。本文提出一种通过反馈线性化导出的统一控制方案，可切换两种模式：节能模式仅使用高效输入实现主任务跟踪，并强制高耗能输入为零；灵巧模式则同时利用高耗能输入以按需实现辅助任务跟踪。所提控制保证主任务的指数跟踪，且主任务动态独立于事先未知的切换信号。在灵巧模式下，辅助任务的指数跟踪也得到保证。对全向麦克纳姆轮机器人的数值仿真验证了该方法的有效性，并展示了切换信号对主、辅任务指数跟踪行为的影响。
原文摘要 · Abstract (English)
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.
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