Fixed-Latency Health-Adaptive Command Filtering for Degraded Multirotors

Abstract

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. A five-cycle ASIC, unbounded proofs, and 10,000,000 vectors establish the digital contract. In 300 paired simulations, the filter eliminated energized envelope violations and reduced vehicle departure from 58% unguarded and 44% health-blind to 33%; severe authority loss remained unrecoverable. This is a preprint of a manuscript currently under peer review. Code, RTL, verification artifacts, simulations, and physical-design outputs are available at https://github.com/Alvaroinfantee/propguard-asic.