Lyapunov-Controlled Quadrotor Landings on Dynamic Mobile Platforms
Year: 2025
Type: article
Abstract: Unmanned aerial vehicles (UAVs) have become indispensable in diverse applications, including delivery, disaster relief, and surveillance. However, achieving precise autonomous landing on mobile platforms, such as moving vehicles or ships, poses significant challenges due to dynamic platform motion, constrained landing spaces, and the nonlinear nature of UAV dynamics. This paper proposes a Lyapunov-based control framework for ensuring accurate and robust quadrotor landings on mobile platforms. By leveraging Lyapunov theory’s stability and convergence principles, the developed control laws guarantee safe navigation and precision landing under dynamic conditions. The methodology incorporates artificial potential fields to manage collision avoidance and workspace constraints, enhancing system reliability. Extensive simulations validate the effectiveness and robustness of the proposed approach, demonstrating its potential for practical implementation in industries requiring UAV operations on moving platforms.
Source: IEEE Access
Institution: University of the South Pacific
Language: English
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,075
OpenAlex ID: W4409102247