Delay-Certified Readiness Barriers for Overactuated Multirotor Allocation Without Lipschitz Constants
Overview
This research introduces a method to maintain readiness barriers in overactuated multirotors without relying on Lipschitz constants. By exploiting the monotonic response of rotors to torque, the authors develop a Lipschitz-free test that ensures commands keep readiness above a specified floor until the next sample, along with a fallback torque mechanism. Simulations of hexarotors with delays ranging from 2 to 40 ms and jitter of ±2 ms demonstrate that the filter never violated the readiness floor. At 10±2 ms delay, the method matched a delay-compensating predictor within the design envelope, incurring only 2-30% more tracking error beyond it, whereas the predictor alone violated the floor in 2 to 16 out of 16 missions.
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“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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- arXiv Robotics — research abstractsSignalDelay-Certified Readiness Barriers for Overactuated Multirotor Allocation Without Lipschitz Constants
This research introduces a method to maintain readiness barriers in overactuated multirotors without relying on Lipschitz constants. By exploiting the monotonic response of rotors to torque, the authors develop a Lipschitz-free test that ensures commands keep readiness above a specified floor until the next sample, along with a fallback torque mechanism. Simulations of hexarotors with delays ranging from 2 to 40 ms and jitter of ±2 ms demonstrate that the filter never violated the readiness floor. At 10±2 ms delay, the method matched a delay-compensating predictor within the design envelope, incurring only 2-30% more tracking error beyond it, whereas the predictor alone violated the floor in 2 to 16 out of 16 missions.
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