A Control Architecture for Time-Optimal Landing of a Quadrotor Onto a Moving Platform

Botao Hu, Lu Lu, Sandipan Mishra

Research output: Contribution to journalArticlepeer-review

19 Scopus citations


We address the problem of autonomous landing of a quadrotor onto a heaving (moving vertically) platform in this paper. A control architecture that consists of a motion estimation module, a trajectory generation module and a tracking control module is proposed. The motion estimation module estimates the absolute motion of the platform and the quadrotor with the measurements from an on-board accelerometer and vision measurements. Based on these estimates, the trajectory generation module generates a time-optimal reference trajectory. With the reference trajectory and motion estimation, the tracking control module synthesizes a control command that enables robust tracking of the reference trajectory. Experimental results and comparison with a state-of-the-art landing controller demonstrate the effectiveness of the proposed control architecture.

Original languageEnglish (US)
Pages (from-to)1701-1712
Number of pages12
JournalAsian Journal of Control
Issue number5
StatePublished - Sep 2018

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Mathematics (miscellaneous)


  • Autonomous landing
  • motion estimation
  • optimal control
  • quadrotor control
  • trajectory tracking


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