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Certificate-Carrying Distributed Model Predictive Control on Product Manifolds with $\mathrm{SO}(3)$ — arXiv:2609.30655

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.30655
License (as archived): CC0-1.0
Archived: 2026-10-08T02:56:40.492Z
SHA-256 of the archived text: 2c3fd47b7a791c940d87ccae3a5100f0e8c13fb987342fd1112517fdfa16c681
Stable URL of this page: https://metraipolis.com/documento/dc_2fcedda4235c

How to cite

Certificate-Carrying Distributed Model Predictive Control on Product Manifolds with $\mathrm{SO}(3)$ — arXiv:2609.30655 — arXiv (en), https://arxiv.org/abs/2609.30655 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_2fcedda4235c (Metraipolis archive dc_2fcedda4235c, sha256 2c3fd47b7a791c940d87ccae3a5100f0e8c13fb987342fd1112517fdfa16c681)

BibTeX

@misc{dc2fcedda4235c,
  title = {Certificate-Carrying Distributed Model Predictive Control on Product Manifolds with $mathrmSO(3)$ — arXiv:2609.30655},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.30655},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_2fcedda4235c; sha256 2c3fd47b7a791c940d87ccae3a5100f0e8c13fb987342fd1112517fdfa16c681},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.30655. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

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.

Tema degli esploratori: matematica e informatica teorica (retro-catalogo arXiv: annunci del 2026-09-28 in math.OC).
Categorie arXiv: Systems and Control (eess.SY) ; Optimization and Control (math.OC).
Pagina del lavoro: https://arxiv.org/abs/2609.30655 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-08T02:20:09.762Z dalla pagina https://arxiv.org/catchup/math.OC/2026-09-28?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).