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| Format: | Preprint |
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2026
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| Online Access: | https://arxiv.org/abs/2605.05339 |
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| _version_ | 1866914536358936576 |
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| author | Hajieghrary, Hadi Schmitt, Paul |
| author_facet | Hajieghrary, Hadi Schmitt, Paul |
| contents | Abrupt cable severance in multi-UAV slung-load transport redistributes load and changes the active constraint set, leaving limited time for fault diagnosis and reconfiguration. Existing controllers rely on coordinated force allocation, peer-state exchange, or fixed cable topology, and therefore lack a certified decentralized recovery mechanism for unannounced severance. We present a passive architecture that routes each vehicle's measured cable tension directly into its altitude thrust command, $T_i^{\mathrm{ff}}=T_i$, while a surrounding proportional-derivative, anti-swing, and projection cascade preserves local tracking feasibility. The main contribution is a conditional hybrid practical input-to-state-stability certificate that composes a slack-excursion-bounded taut-cable reduction, bounded post-severance Lyapunov jumps, inter-fault decay, and per-fault-cycle contraction $ρ\in (0,1)$ into an explicit recovery envelope under stated actuator, slack, and dwell assumptions. We validate the controller in Drake multibody simulation with five vehicles, a 10 kg payload, Kelvin-Voigt cables, Dryden wind, and single- and dual-severance schedules: the closed loop attains 0.312-0.328 m RMSE, 76.1-95.2 mm peak sag, and recovery within one payload-pendulum period. Disabling the identity inflates cruise error by 34-39% and peak sag by 3.6x-4.0x, identifying local tension feed-forward as the dominant passive recovery mechanism in the tested decentralized cascade. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_05339 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Passive Fault Tolerance through Tension-to-Thrust Feed-Forward: Hybrid Input-to-State Stability for Decentralized Multi-UAV Slung-Load Transport under Abrupt Cable Severance Hajieghrary, Hadi Schmitt, Paul Robotics Optimization and Control Abrupt cable severance in multi-UAV slung-load transport redistributes load and changes the active constraint set, leaving limited time for fault diagnosis and reconfiguration. Existing controllers rely on coordinated force allocation, peer-state exchange, or fixed cable topology, and therefore lack a certified decentralized recovery mechanism for unannounced severance. We present a passive architecture that routes each vehicle's measured cable tension directly into its altitude thrust command, $T_i^{\mathrm{ff}}=T_i$, while a surrounding proportional-derivative, anti-swing, and projection cascade preserves local tracking feasibility. The main contribution is a conditional hybrid practical input-to-state-stability certificate that composes a slack-excursion-bounded taut-cable reduction, bounded post-severance Lyapunov jumps, inter-fault decay, and per-fault-cycle contraction $ρ\in (0,1)$ into an explicit recovery envelope under stated actuator, slack, and dwell assumptions. We validate the controller in Drake multibody simulation with five vehicles, a 10 kg payload, Kelvin-Voigt cables, Dryden wind, and single- and dual-severance schedules: the closed loop attains 0.312-0.328 m RMSE, 76.1-95.2 mm peak sag, and recovery within one payload-pendulum period. Disabling the identity inflates cruise error by 34-39% and peak sag by 3.6x-4.0x, identifying local tension feed-forward as the dominant passive recovery mechanism in the tested decentralized cascade. |
| title | Passive Fault Tolerance through Tension-to-Thrust Feed-Forward: Hybrid Input-to-State Stability for Decentralized Multi-UAV Slung-Load Transport under Abrupt Cable Severance |
| topic | Robotics Optimization and Control |
| url | https://arxiv.org/abs/2605.05339 |