[2605.05339] 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
Skip to main content
Learn about arXiv becoming an independent nonprofit.
We gratefully acknowledge support from the Simons Foundation, member institutions, and all contributors. Donate
> cs > arXiv:2605.05339
Help | Advanced Search
All fields Title Author Abstract Comments Journal reference ACM classification MSC classification Report number arXiv identifier DOI ORCID arXiv author ID Help pages Full text
Search
GO
quick links
Login
Help Pages
About
-->
Computer Science > Robotics
arXiv:2605.05339 (cs)
[Submitted on 6 May 2026]
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
Authors:Hadi Hajieghrary, Paul Schmitt
View a PDF of the paper titled 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, by Hadi Hajieghrary and Paul Schmitt
View PDF HTML (experimental)
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 $\rho \in (0,1)$ 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.
Comments: Submitted for review at IEEE Transactions on Control Systems Technology For the paper and simulation code see: this https URL
Subjects:
Robotics (cs.RO); Optimization and Control (math.OC)
Cite as: arXiv:2605.05339 [cs.RO]
(or arXiv:2605.05339v1 [cs.RO] for this version)
https://doi.org/10.48550/arXiv.2605.05339
Focus to learn more
arXiv-issued DOI via DataCite (pending registration)
Submission history
From: Hadi Hajieghrary [view email] [v1] Wed, 6 May 2026 18:10:42 UTC (925 KB)
Full-text links:
Access Paper:
View a PDF of the paper titled 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, by Hadi Hajieghrary and Paul Schmitt
View PDF
HTML (experimental)
TeX Source
view license
Current browse context:
cs.RO
new | recent | 2026-05
Change to browse by:
cs math math.OC
References & Citations
NASA ADS
Google Scholar
Semantic Scholar
export BibTeX citation Loading...
BibTeX formatted citation
×
loading...
Data provided by:
Bookmark
Bibliographic Tools
Bibliographic and Citation Tools
Bibliographic Explorer Toggle
Bibliographic Explorer (What is the Explorer?)
Connected Papers Toggle
Connected Papers (What is Connected Papers?)
Litmaps Toggle
Litmaps (What is Litmaps?)
scite.ai Toggle
scite Smart Citations (What are Smart Citations?)
Code, Data, Media
Code, Data and Media Associated with this Article
alphaXiv Toggle
alphaXiv (What is alphaXiv?)
Links to Code Toggle
CatalyzeX Code Finder for Papers (What is CatalyzeX?)
DagsHub Toggle
DagsHub (What is DagsHub?)
GotitPub Toggle
Gotit.pub (What is GotitPub?)
Huggingface Toggle
Hugging Face (What is Huggingface?)
ScienceCast Toggle
ScienceCast (What is ScienceCast?)
Demos
Demos
Replicate Toggle
Replicate (What is Replicate?)
Spaces Toggle
Hugging Face Spaces (What is Spaces?)
Spaces Toggle
TXYZ.AI (What is TXYZ.AI?)
Related Papers
Recommenders and Search Tools
Link to Influence Flower
Influence Flower (What are Influence Flowers?)
Core recommender toggle
CORE Recommender (What is CORE?)
Author
Venue
Institution
Topic
About arXivLabs
arXivLabs: experimental projects with community collaborators
arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website.
Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them.
Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs.
Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)
About
Help
contact arXivClick here to contact arXiv Contact
subscribe to arXiv mailingsClick here to subscribe Subscribe
Copyright
Privacy Policy
Web Accessibility Assistance
arXiv Operational Status