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Residual Wrench Certification and Margin-Aware Control Synthesis for Aerial Physical Interaction — arXiv:2609.38707

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.38707
License (as archived): CC0-1.0
Archived: 2026-10-07T15:11:37.238Z
SHA-256 of the archived text: d11986a57c8c1fd5b20630862bee1a1eafbfa8a5e860661efe2ecbc960c34e41
Stable URL of this page: https://metraipolis.com/documento/dc_ec72bcce9650

How to cite

Residual Wrench Certification and Margin-Aware Control Synthesis for Aerial Physical Interaction — arXiv:2609.38707 — arXiv (en), https://arxiv.org/abs/2609.38707 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_ec72bcce9650 (Metraipolis archive dc_ec72bcce9650, sha256 d11986a57c8c1fd5b20630862bee1a1eafbfa8a5e860661efe2ecbc960c34e41)

BibTeX

@misc{dcec72bcce9650,
  title = {Residual Wrench Certification and Margin-Aware Control Synthesis for Aerial Physical Interaction — arXiv:2609.38707},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.38707},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_ec72bcce9650; sha256 d11986a57c8c1fd5b20630862bee1a1eafbfa8a5e860661efe2ecbc960c34e41},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.38707. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

We develop a task-relative framework for certifying residual wrench authority after hover and contact loading in multirotors with bounded actuators. Using convex geometry, we derive signed margins for prescribed convex reserves, including Euclidean balls and weighted ellipsoids. We obtain computable reserve certificates from actuator-interiority bounds to support slack-maximizing allocation. To preserve the required reserve, we propose command projection onto a tightened feasible set. We then connect the available reserve to structured gain synthesis and certify a local tracking region that respects actuator limits. Within this region, we establish nominal exponential convergence and robust ultimate boundedness. For the prescribed task and morphology family, we show that the optimized octarotor attains a larger margin than the optimized hexarotor at equal total thrust. We evaluate the proposed framework in closed-loop simulations of sustained rigid-wall contact using a fixed-geometry octarotor and a variable-tilt quadrotor with matched installed thrust. The quadrotor's local certificate admits a higher normalized push limit for the prescribed task family. In tests beyond the realizability boundaries, we observe the predicted loss of authority through rotor-thrust limits for the octarotor and tilt-servo limits for the quadrotor.

Tema degli esploratori: statistica e scienza dei dati (retro-catalogo arXiv: annunci del 2026-10-01 in cs.RO).
Categorie arXiv: Robotics (cs.RO) ; Systems and Control (eess.SY).
Pagina del lavoro: https://arxiv.org/abs/2609.38707 — 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 2026-10-07T14:44:47.366Z dalla pagina https://arxiv.org/catchup/cs.RO/2026-10-01?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).