{
  "abstract": "This paper studies constraint certification in synchronous distributed model predictive control (DMPC) when neighboring predictions change between sampling instants. Before the parallel local solves, each agent communicates a shifted prediction and an announced update budget. A hard trajectory trust region makes that budget enforceable, while an edge-wise feasibility cap computed from the shifted packets keeps the fallback feasible without using any current optimizer output. Distance and relative-attitude constraints are tightened with explicit Lipschitz constants and two budget layers: one accounts for the simultaneous neighbor update and the other retains a checkable shift reserve. We prove hard pairwise constraint satisfaction and recursive feasibility under stated nominal-execution and terminal assumptions, give the additional residual caused by execution error, and derive a local practical value-decrease bound. A spacecraft formation example uses hard terminal and pairwise constraints, a geodesic relative- attitude constraint on $\\SO$, and reproducible terminal-set checks. Comparisons with fixed, trajectory-only, and windowed online margins show that the proposed budget reduces conservatism while preserving a positive shifted-feasibility margin.",
  "abstract_shown": true,
  "affiliations": [],
  "article_type": null,
  "arxiv": "2609.30655",
  "author_total": 4,
  "authors": [
    {
      "name": "Shengjun Zhang"
    },
    {
      "name": "Tingyi Liu"
    },
    {
      "name": "Lei Xu"
    },
    {
      "name": "Tao Yang"
    }
  ],
  "bibtex": "https://research.draconitic.com/paper/62790svy9dezg.bib",
  "cited_by": 0,
  "doi": "10.48550/arxiv.2609.30655",
  "fulltext_url": null,
  "id": "62790svy9dezg",
  "issns": [],
  "landing_url": "https://arxiv.org/abs/2609.30655",
  "language": null,
  "licence": "LicenseRef-arXiv-nonexclusive-1.0",
  "licence_label": "arXiv licence",
  "licence_source": "article",
  "licence_url": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
  "metadata_licence": "CC0-1.0",
  "native_subjects": [
    [
      "arxiv",
      "cs.SY"
    ],
    [
      "arxiv",
      "eess.SY"
    ],
    [
      "arxiv",
      "math.OC"
    ],
    [
      "openalex",
      "2207|Advanced Control Systems Optimization"
    ]
  ],
  "openalex": "W7214639929",
  "pdf_url": "https://arxiv.org/pdf/2609.30655",
  "pmcid": null,
  "pmid": null,
  "published": "2026-09-25",
  "publisher": null,
  "ris": "https://research.draconitic.com/paper/62790svy9dezg.ris",
  "sources": [
    {
      "first_seen": "2026-10-30T12:24:57Z",
      "native_id": "2609.30655",
      "source": "arxiv",
      "url": "https://arxiv.org/abs/2609.30655"
    }
  ],
  "subjects": [
    {
      "field": "mathematics",
      "origin": "arxiv:math.OC",
      "subfield": "optimisation-control"
    }
  ],
  "title": "Certificate-Carrying Distributed Model Predictive Control on Product Manifolds with $\\mathrm{SO}(3)$",
  "title_text": "Certificate-Carrying Distributed Model Predictive Control on Product Manifolds with SO(3)",
  "type": "preprint",
  "updated_at": "2026-10-30T12:24:57Z",
  "url": "https://research.draconitic.com/paper/62790svy9dezg",
  "venue": "arXiv",
  "versions": []
}