Tilt as a Certified Resource: Preserving Motor Wrench-Rate Authority on Articulated Multirotors

2026-09-18

AI Summary

论文解决了多旋翼飞行器在扰动下快速调整力矩的问题，通过将伺服倾斜视为几何资源，并使用控制屏障函数确保系统状态和车辆控制权。

Abstract

Fully-actuated multirotor aerial vehicles must not only track nominal wrenches but retain the "readiness" to modulate them rapidly under disturbances. Classical effort-minimizing allocators ignore this dynamic limit, whereas maximizing readiness leads to topologically disconnected optimal sheets demanding physically impossible actuator rates. Enforcing a readiness safety floor on fixed-geometry symmetric platforms further encounters a zero-sum degeneracy: motor-speed redistribution cannot improve authority without conceding wrench tracking. This paper uses active morphology to break the degeneracy, treating servo tilt as a geometric resource supplying authority-recovery directions unavailable to static rotors. We construct a configuration-dependent, motor-only readiness certificate - the log-volume of the reachable wrench-rate set - that explicitly excludes servo capacity, preventing a "ghost capacity fallacy" in which the certificate would falsely credit slow mechanical kinematic limits instead of collapsing accurately at motor saturation. The certificate is enforced as a Control Barrier Function (CBF) within a Unified Physical-Command Quadratic Program acting on motor torques and servo setpoints. Closed-loop simulations of an articulated octorotor under severe gust disturbances show classical allocators diverging and uncertified articulated allocators violating the safety floor, while the proposed CBF filter bounds the system state and preserves vehicle authority.

Problem

• multirotor
• wrench-rate authority
• disturbances
• readiness safety floor
• actuator rates

Innovation

• servo tilt
• readiness certificate
• Control Barrier Function (CBF)
• Unified Physical-Command Quadratic Program