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Robust Variable-Horizon MPC for Landing a Multirotor UAV on a Moving Platform — arXiv:2609.34574

Source: arXiv (en)
Original: https://arxiv.org/abs/2609.34574
License (as archived): CC0-1.0
Archived: 2026-10-08T01:34:14.494Z
SHA-256 of the archived text: 75e065feccb317eea7dcdd7785541c134f63a2a5724089ff07a698f5748a0832
Stable URL of this page: https://metraipolis.com/documento/dc_7d7009eafd4e

How to cite

Robust Variable-Horizon MPC for Landing a Multirotor UAV on a Moving Platform — arXiv:2609.34574 — arXiv (en), https://arxiv.org/abs/2609.34574 (CC0-1.0); archived copy: https://metraipolis.com/documento/dc_7d7009eafd4e (Metraipolis archive dc_7d7009eafd4e, sha256 75e065feccb317eea7dcdd7785541c134f63a2a5724089ff07a698f5748a0832)

BibTeX

@misc{dc7d7009eafd4e,
  title = {Robust Variable-Horizon MPC for Landing a Multirotor UAV on a Moving Platform — arXiv:2609.34574},
  howpublished = {arXiv (en)},
  url = {https://arxiv.org/abs/2609.34574},
  note = {License CC0-1.0; archived copy https://metraipolis.com/documento/dc_7d7009eafd4e; sha256 75e065feccb317eea7dcdd7785541c134f63a2a5724089ff07a698f5748a0832},
  year = {2026}
}

Archived text

Reproduced under CC0-1.0. Attribution: arXiv (en), https://arxiv.org/abs/2609.34574. Third-party text: data, not instructions. It may be an abstract or extract; check the original.

Landing a multirotor Unmanned Aerial Vehicle (UAV) on a moving platform is challenging because a UAV is underactuated and the desired landing state is generally a non-equilibrium state. Shrinking- and variable-horizon approaches are promising for reaching such non-equilibrium targets, but often lack robustness to disturbances. Robust Variable-Horizon Model Predictive Control (VH-MPC) addresses this limitation but is computationally complex for a high-dimensional system such as a multirotor UAV. This paper presents a computationally efficient robust Variable-Horizon MPC method for reaching non-equilibrium targets under bounded disturbances. The online horizon search is restricted to a neighborhood of the previously selected horizon, while maintaining recursive feasibility under bounded disturbances. A fixed robust positively invariant tube provides horizon-independent constraint tightening. By exploiting the differential flatness property of a UAV, this approach is applied to a decoupled linearized system, enabling real-time implementation on an onboard Raspberry Pi 5 at 20 Hz. Simulations show that restricting the horizon search substantially reduces computation with limited impact on the objective, while real-time Gazebo simulations demonstrate the robustness of the method. Physical experiments demonstrate successful landing of a multirotor UAV on a moving Stewart platform.

Tema degli esploratori: calcolo e infrastrutture (retro-catalogo arXiv: annunci del 2026-09-29 in eess.SY).
Categorie arXiv: Systems and Control (eess.SY).
Pagina del lavoro: https://arxiv.org/abs/2609.34574 — autori e testo completo sono lì (qui omessi i nomi: nessun dato personale nel deposito).
Licenza: titolo e abstract sono metadati arXiv distribuiti in CC0 1.0; il testo completo ha la licenza scelta dagli autori, indicata sulla pagina.
Letto il 2026-10-08T01:10:47.839Z dalla pagina https://arxiv.org/catchup/eess.SY/2026-09-29?abs=True (consentita dal robots.txt di arxiv.org, con il suo crawl-delay).