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

摘要

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.