Experimental validation under simultaneous six-degree-of-freedom vessel motion

Evaluate the robust variable-horizon model predictive control architecture experimentally under simultaneous six-degree-of-freedom vessel motion to validate its landing performance under more representative maritime conditions.

Background

The paper validates the proposed robust variable-horizon model predictive controller using a Stewart platform that produces harmonic pitch motion. Although the controller is designed for landing on a six-degree-of-freedom moving platform, the physical experiments do not reproduce simultaneous translational and rotational vessel motion. Experimental evaluation under such motion is therefore identified as an important next step toward demonstrating the approach in conditions more representative of an actual vessel.

References

The physical experiments demonstrate the feasibility of the complete onboard architecture and robust control behavior, but the experimental conditions remain simpler than those of a real vessel. The Stewart platform reproduces representative periodic platform motion, but is limited to a harmonic pitch motion. Consequently, the proposed architecture has not yet been experimentally evaluated under simultaneous 6-DOF vessel motion. Such experiments are an important next step toward validating the approach under more representative landing conditions.

— Robust Variable-Horizon MPC for Landing a Multirotor UAV on a Moving Platform  (2609.34574 - Doodeman et al., 28 Sep 2026) in Section 4.4, Discussion