Robust Helicopter Ship Deck Landing With Guaranteed Timing Using Shrinking-Horizon Model Predictive Control
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arXiv
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| Hauptverfasser: | , , |
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| Format: | Preprint |
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2026
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| _version_ | 1866910033755766784 |
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| author | Schitz, Philipp Mercorelli, Paolo Dauer, Johann C. |
| author_facet | Schitz, Philipp Mercorelli, Paolo Dauer, Johann C. |
| contents | We present a runtime efficient algorithm for autonomous helicopter landings on moving ship decks based on Shrinking-Horizon Model Predictive Control (SHMPC). First, a suitable planning model capturing the relevant aspects of the full nonlinear helicopter dynamics is derived. Next, we use the SHMPC together with a touchdown controller stage to ensure a pre-specified maneuver time and an associated landing time window despite the presence of disturbances. A high disturbance rejection performance is achieved by designing an ancillary controller with disturbance feedback. Thus, given a target position and time, a safe landing with suitable terminal conditions is be guaranteed if the initial optimization problem is feasible. The efficacy of our approach is shown in simulation where all maneuvers achieve a high landing precision in strong winds while satisfying timing and operational constraints with maximum computation times in the millisecond range. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2602_22714 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Robust Helicopter Ship Deck Landing With Guaranteed Timing Using Shrinking-Horizon Model Predictive Control Schitz, Philipp Mercorelli, Paolo Dauer, Johann C. Robotics Systems and Control We present a runtime efficient algorithm for autonomous helicopter landings on moving ship decks based on Shrinking-Horizon Model Predictive Control (SHMPC). First, a suitable planning model capturing the relevant aspects of the full nonlinear helicopter dynamics is derived. Next, we use the SHMPC together with a touchdown controller stage to ensure a pre-specified maneuver time and an associated landing time window despite the presence of disturbances. A high disturbance rejection performance is achieved by designing an ancillary controller with disturbance feedback. Thus, given a target position and time, a safe landing with suitable terminal conditions is be guaranteed if the initial optimization problem is feasible. The efficacy of our approach is shown in simulation where all maneuvers achieve a high landing precision in strong winds while satisfying timing and operational constraints with maximum computation times in the millisecond range. |
| title | Robust Helicopter Ship Deck Landing With Guaranteed Timing Using Shrinking-Horizon Model Predictive Control |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2602.22714 |