Delay-Certified Readiness Barriers for Overactuated Multirotor Allocation Without Lipschitz Constants
Abstract
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 ±2~ms jitter, the filter never violated the floor. At 10±2~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.
Related
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BibTeX
@misc{silano2026delaycertified,
title = {{Delay-Certified Readiness Barriers for Overactuated Multirotor Allocation Without Lipschitz Constants}},
author = {Giuseppe Silano},
howpublished = {arXiv},
year = {2026},
month = nov,
doi = {10.48550/arxiv.2611.03490},
eprint = {2611.03490},
archivePrefix = {arXiv},
url = {https://arxiv.org/abs/2611.03490},
}
RIS
TY - UNPB
TI - Delay-Certified Readiness Barriers for Overactuated Multirotor Allocation Without Lipschitz Constants
AU - Giuseppe Silano
PY - 2026
DA - 2026/11/02
PB - arXiv
DO - 10.48550/arxiv.2611.03490
UR - https://arxiv.org/abs/2611.03490
AB - 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 ±2~ms jitter, the filter never violated the floor. At 10±2~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.
ER -