Alvaro Infante Flores

Fixed-Latency Health-Adaptive Command Filtering for Degraded Multirotors

Actuator degradation changes a multirotor's realizable command set, so health-blind filters may issue unattainable commands. We derive an exact health-adaptive integer filter with closed-form feasibility and lexicographic projection, and prove conditional input-to-state stability...

Fixed-Latency Health-Adaptive Command Filtering for Degraded Multirotors

Actuator degradation changes a multirotor's realizable command set, so health-blind filters may issue unattainable commands. We derive an exact health-adaptive integer filter with closed-form feasibility and lexicographic projection, and prove conditional input-to-state stability...