Nonlinear Model Predictive Control via Sequential Convex Programming for Drone-to-Drone Docking

Jul 7, 11110 · 1 min read

Problem

This project develops sequential convex programming formulations for drone-to-drone docking. The focus is on safe, feasible trajectories that respect disturbance bounds and actuator limits while preserving computational tractability.

Nonlinear Model Predictive Control via Sequential Convex Programming for Drone-to-Drone Docking detail image

Approach

  • Convexified constraints for safety and docking geometry
  • Robust thrust profiles under bounded disturbances
  • Numerical validation on docking scenarios
Ongoing Optimal-Control Robotics