← 研踪 PaperTrailarXiv:2611.03490 · v1
Delay-Certified Readiness Barriers for Overactuated Multirotor Allocation Without Lipschitz Constants
首次提交 2026-11-03 01:33
版本更新 2026-11-03 01:33
雷达观测 2026-11-04 23:41
摘要
Overactuated multirotors can produce the same wrench with many rotor-speed combinations, some of which leave the vehicle unable to change its wrench quickly, e.g., to reject a gust. Readiness barriers keep this ability, the readiness, above a floor, but only in continuous time; with sampled commands and varying speed-controller delays, the available robustness bound covers less than one millisecond. We remove this limit by exploiting the structure of the problem: each rotor responds monotonically and in closed form to its own torque, so the speeds reachable under uncertain switching times lie in a cheaply computed box, and the lowest readiness over that box sits at a corner known in advance. This yields a Lipschitz-free test that a command keeps the readiness above its floor until the next sample, plus a fallback torque that keeps the vehicle on a certified plan. In hexarotor simulations with 2--40~ms delays and $\pm2$~ms jitter, the filter never violated the floor. At $10\pm2$~ms, it matched a delay-compensating predictor within the design envelope and cost 2--30\% more tracking error beyond it, where the predictor alone violated the floor in 2 to 16 of 16 missions.
作者备注：This work has been submitted to the IEEE for possible publication
观测到的版本
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v1 · 2026-11-03 01:33 · 最新观测版本
Delay-Certified Readiness Barriers for Overactuated Multirotor Allocation Without Lipschitz Constants
Overactuated multirotors can produce the same wrench with many rotor-speed combinations, some of which leave the vehicle unable to change its wrench quickly, e.g., to reject a gust. Readiness barriers keep this ability, the readiness, above a floor, but only in continuous time; with sampled commands and varying speed-controller delays, the available robustness bound covers less than one millisecond. We remove this limit by exploiting the structure of the problem: each rotor responds monotonically and in closed form to its own torque, so the speeds reachable under uncertain switching times lie in a cheaply computed box, and the lowest readiness over that box sits at a corner known in advance. This yields a Lipschitz-free test that a command keeps the readiness above its floor until the next sample, plus a fallback torque that keeps the vehicle on a certified plan. In hexarotor simulations with 2--40~ms delays and $\pm2$~ms jitter, the filter never violated the floor. At $10\pm2$~ms, it matched a delay-compensating predictor within the design envelope and cost 2--30\% more tracking error beyond it, where the predictor alone violated the floor in 2 to 16 of 16 missions.
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