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eess.SY2026
Robust Variable-Horizon MPC for Landing a Multirotor UAV on a Moving Platform
Sander Doodeman, Niels Berkers, Paula Chanfreut +2
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 s…
eess.SY2026
Zero Dynamics Stability of a Multirotor UAV with a Heavy Payload
Sander Doodeman, Paula Chanfreut Palacio, Elena Torta +1
This paper studies the zero dynamics stability of a multirotor Unmanned Aerial Vehicle (UAV) carrying a rigidly attached heavy payload. In particular, we focus on controlling the p…
eess.SY2025
Leader-Follower Formation Tracking Control of Quadrotor UAVs Using Bearing Measurements
S. Doodeman, Z. Tang, M. Jacinto +2
This work addresses the practical problem of distributed formation tracking control of a group of quadrotor vehicles in a relaxed sensing graph topology with a very limited sensor…