Input Dexterity and Output Negotiation in Feedback-Linearizable Nonlinear Systems

arXiv:2603.08480 · eess.SY, cs.SY, math.DS · Submitted 2026-03-09 · Read on arXiv

eess.SY, cs.SY, math.DS

Submitted: 2026-03-09

Updated: 2026-10-02

Project page: https://qiangs.github.io/Papers/Shen2015Automatica.pdf

Terminology

• Decoupling — 16× in this paper · explained in 2 episodes
• Redundancy — 10× in this paper · explained in 2 episodes
• Algorithmic Redundancy — 1× in this paper · explained in 1 episode
• Allocator — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• Dual-Force Mode — 1× in this paper
• Fully Actuated Mode — 1× in this paper
• Multi-Agent System — 1× in this paper · explained in 5 episodes
• Robustness — 1× in this paper · explained in 5 episodes
• Verification — 1× in this paper · explained in 2 episodes

Sources

• Differential Flatness by Pure Prolongation: Necessary and Sufficient Conditions

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