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

• URL: http://arxiv.org/abs/2605.05339v1
• Date: Wed, 06 May 2026 18:10:42 GMT
• 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
• Abstract summary: Abrupt cable severance in slung-load transport redistributes load and changes the active constraint set.<n>Existing controllers rely on coordinated force allocation, peer-state exchange, or fixed cable topology.<n>We present a passive architecture that routes each vehicle's measured cable tension directly into its altitude thrust command.
• Score: 0.9453554184019105
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: 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.

Related papers

• Escape-Aware Control Barrier Functions for Quadrotor Safety under Body-Rate Limits [4.665549640473909]
  Control barrier functions for input-constrained systems place the admissible input set inside the definition of the safe set.<n>On a quadrotor this is not cosmetic: because the thrust vector must be reoriented before it can decelerate an approach, a state-only barrier certifies states from which no escape is reachable in time.<n>We define an escape barrier on the augmented pair of state and previously applied input, with escape authority measured over the one-step reachable thrust cap.
  arXiv  Detail & Related papers  (2026-09-15T15:06:37Z)
• Readiness Barrier Functions: Forward-Invariant Control Authority for Overactuated Multirotor Allocation [1.5229257192293202]
  We propose a filter for a certified set of multirotors with a closed-form floor shift independent of the airframe matrix.<n>A single design inequality renders the certified set compact and strictly interior to the actuator box, with the readiness cost of deactivation given in closed form as $ln(n/(n-m)$ for symmetric designs.<n>On a hexarotor and a fully-actuated octorotor the closed-form gap matches simulation to machine precision; in authority-scarce regime greedy violates the certified floor and commits wrench errors up to eighty times larger than the proposed filter.
  arXiv  Detail & Related papers  (2026-08-17T09:43:42Z)
• Compass: Degradation-Simulated Reciprocal Learning with Lightweight Needle RWKV for Multimodal Crack Segmentation under Missing Modalities [36.93774494071781]
  We propose a lightweight network for robust crack segmentation under arbitrary missing modalities.<n> Compass comprises Degradation Distillation (DSD), Needle Block, and Evidential Topology-Preserving Fusion (ETPF)<n>Even with 90% depth modality missing, Compass achieves F1 of 0.8216 and mIoU of 0.8434 with only 2.58M parameters.
  arXiv  Detail & Related papers  (2026-08-04T12:27:02Z)
• Looped Transformers with Source-Centered State Evolution [38.624504791098545]
  Looped Transformers create a useful train- and test-time compute axis by reusing the same Transformer block over recurrent depth.<n>In additive-injection looped Transformers, an input-conditioned signal is reintroduced at every recurrent step.<n>We propose Source-Centered State Evolution to reconcile input conditioning with reference-preserving shared recurrence.
  arXiv  Detail & Related papers  (2026-07-30T04:13:58Z)
• Decentralized Geometric Control for Cable-Suspended Payload Transport with Adaptive Mass Estimation [0.8972395008645466]
  GPAC enables $N$ quadrotors to transport a cable-suspended payload without a central coordinator.<n>Each quadrotor independently estimates its effective load share from local cable measurements.<n>The payload position is reconstructed locally from each agent's own cable geometry.
  arXiv  Detail & Related papers  (2026-06-20T15:33:17Z)
• TRIDENT: Breaking the Hybrid-Safety-Physics Coupling for Provably Safe Multi-Agent Reinforcement Learning [26.128298844361183]
  We show that three features form a directed cycle of biases that defeats any naive composition of off-the-shelf modules.<n>We introduce TRIDENT, the first MARL framework whose three components are co-designed to cancel each leak.<n>On multi-UAV mobile-edge computing, autonomous intersection management, and a hybrid SMAC variant, TRIDENT cuts training-time violations by 95.5% over MADDPG and 76.3% over MACPO.
  arXiv  Detail & Related papers  (2026-06-16T07:41:43Z)
• Impedance MPC with Disturbance Estimation for Dexterous Hand Control [0.0]
  We present an actuator-agnostic Impedance Model Predictive Control framework for dexterous fingers.<n>On a hydraulically actuated finger, the 500,Hz Kalman MPC attains 0.5,mrad RMS, 0.1,mrad steady-state, and 6.6,mrad peak deflection.
  arXiv  Detail & Related papers  (2026-06-12T16:28:21Z)
• Impedance MPC for Physical Human-Robot Interaction: Predictive Disturbance Rejection with Joint-Limit Safety [0.0]
  Impedance MPC with Kalman augmentation attains sub-0.05,mm steady-state error versus 44.8,mm for classical impedance.<n>On a 7-DOF Franka FR3, Impedance MPC with Kalman augmentation attains sub-0.05,mm steady-state error versus 44.8,mm for classical impedance.
  arXiv  Detail & Related papers  (2026-06-06T18:06:25Z)
• Hall-Like Transversal Stress and Sandpile Criticality on Real Production Networks [0.0]
  This paper develops a Hall-Sandpile model of economic instability.<n>It combines a Hall-like stress mechanism with sandpile threshold dynamics on a real production-network substrate.
  arXiv  Detail & Related papers  (2026-05-02T18:13:32Z)
• Stable Walking for Bipedal Locomotion under Foot-Slip via Virtual Nonholonomic Constraints [39.146761527401424]
  Foot slip is a major source of instability in bipedal locomotion on low-friction or uncertain terrain.<n>We propose a control framework that explicitly incorporates slip into the locomotion model through virtual nonholonomic constraints.<n>The resulting closed-loop system is formulated as a hybrid dynamical system with continuous swing dynamics and discrete impact events.
  arXiv  Detail & Related papers  (2026-03-30T22:38:45Z)
• Trajectory Optimization for Self-Wrap-Aware Cable-Towed Planar Object Manipulation under Implicit Tension Constraints [9.211953416333108]
  Self-wrap towing is a routing-aware, tensioning-implicit trajectory optimization (TITO) problem.<n>We build a relaxation hierarchy from a strict mode-conditioned reference to three tractable relaxations: Full-Mode Relaxation (FMR), Binary-Mode Relaxation (BMR), and Implicit-Mode Relaxation (IMR)<n>We find that making routing an explicit decision often yields conservative solutions that stay near switching boundaries, whereas IMR induces self-wrap through state evolution and exploits the redirected torque channel whenever turning requires it.
  arXiv  Detail & Related papers  (2026-03-10T12:04:57Z)
• Improving Search Agent with One Line of Code [68.58667107354253]
  Tool-based Agentic Reinforcement Learning (TARL) has emerged as a promising paradigm for training search agents to interact with external tools.<n>We propose textbfSearch textbfAgent textbfPolicy textbfOptimization (textbfSAPO), which stabilizes training via a conditional token-level KL constraint.
  arXiv  Detail & Related papers  (2026-03-10T04:07:39Z)
• BadCLIP++: Stealthy and Persistent Backdoors in Multimodal Contrastive Learning [73.46118996284888]
  Research on backdoor attacks against multimodal contrastive learning models faces two key challenges: stealthiness and persistence.<n>We propose BadCLIP++, a unified framework that tackles both challenges.<n>For stealthiness, we introduce a semantic-fusion QR micro-trigger that embeds imperceptible patterns near task-relevant regions.<n>For persistence, we stabilize trigger embeddings via radius shrinkage and centroid alignment.
  arXiv  Detail & Related papers  (2026-02-19T08:31:16Z)
• Safe Urban Traffic Control via Uncertainty-Aware Conformal Prediction and World-Model Reinforcement Learning [43.06827300023392]
  STREAM-RL is an Uncertainty-Guided Adaptive Conformal Forecaster, a Conformal Residual Flow Network, and an Uncertainty-Guided Safe World-Model RL agent.<n>Experiments on multiple real-world traffic trajectory data demonstrate that STREAM-RL achieves 91.4% coverage efficiency, controls FDR at 4.1% under verified dependence, and improves safety rate to 95.2% compared to 69% for standard PPO.
  arXiv  Detail & Related papers  (2026-02-04T18:10:59Z)
• DSO-VSA: a Variable Stiffness Actuator with Decoupled Stiffness and Output Characteristics for Rehabilitation Robotics [11.174959557114532]
  This paper presents a variable stiffness actuator featuring decoupled stiffness and output behavior for rehabilitation robotics.<n>The system integrates a variable stiffness mechanism that combines a variable-length lever with a hypocycloidal straight-line mechanism to achieve a linear torque-deflection relationship.<n>A cascade PI controller is further developed on the basis of the differential configuration, in which the position-loop term jointly regulates stiffness and deflection angle.
  arXiv  Detail & Related papers  (2025-12-21T12:13:17Z)
• Path Drift in Large Reasoning Models:How First-Person Commitments Override Safety [40.92620214527198]
  Reasoning trajectories in Long-CoT models can drift from aligned paths, resulting in content that violates safety constraints.<n>We introduce a three-stage Path Drift Induction Framework comprising cognitive load amplification, self-role priming, and condition chain hijacking.<n>Our findings highlight the need for trajectory-level alignment oversight in long-form reasoning beyond token-level alignment.
  arXiv  Detail & Related papers  (2025-10-11T04:39:50Z)
• Leakage Mobility in Superconducting Qubits as a Leakage Reduction Unit [37.77380184949589]
  Leakage from the computational subspace is a damaging source of noise. We study the effects of leakage mobility between superconducting qubits on the performance of a quantum stability experiment.
  arXiv  Detail & Related papers  (2024-06-06T13:52:46Z)
• The Security Analysis of Continuous-Variable Quantum Key Distribution under Limited Eavesdropping with Practical Fiber [26.001773854548933]
  We investigate how the fiber loss influences the eavesdropping ability based on a teleportation-based collective attack model. We find that if the distributed entanglement is limited due to the practical loss, the optimal attack occurs when the two teleportation stations are merged to one.
  arXiv  Detail & Related papers  (2023-12-23T12:17:18Z)
• Exact Results for a Boundary-Driven Double Spin Chain and Resource-Efficient Remote Entanglement Stabilization [15.902631337426316]
  We derive an exact solution for the steady state of a setup where two $XX$-coupled $N$-qubit spin chains are subject to boundary Rabi drives. For a wide range of parameters, this system has a pure entangled steady state.
  arXiv  Detail & Related papers  (2023-07-18T17:59:15Z)

This list is automatically generated from the titles and abstracts of the papers in this site.

This site does not guarantee the quality of this site (including all information) and is not responsible for any consequences.