Sensitivity-Based Tube NMPC for Cooperative Aerial Structures Under Parametric Uncertainty

• URL: http://arxiv.org/abs/2604.25766v2
• Date: Thu, 30 Apr 2026 22:20:53 GMT
• Title: Sensitivity-Based Tube NMPC for Cooperative Aerial Structures Under Parametric Uncertainty
• Abstract summary: This paper presents a sensitivity-based tube Model Predictive Control framework for cooperative aerial chains under bounded uncertainty.<n>We robustify an inter-link separation constraint, implemented via a smooth cosine embedding, and thrust-magnitude bounds.<n>Results show improved constraint margins under uncertainty with tracking performance comparable to nominal NMPC.
• Score: 6.559490392362257
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: This paper presents a sensitivity-based tube Nonlinear Model Predictive Control (NMPC) framework for cooperative aerial chains under bounded parametric uncertainty. We consider a planar two-vehicle chain connected by rigid links, modeled with input-rate actuation to enforce slew-rate and magnitude limits on thrust and torque. Robustness to uncertainty in link mass, length, and inertia is achieved by propagating first-order parametric state sensitivities along the horizon and using them to compute online constraint-tightening margins. We robustify an inter-link separation constraint, implemented via a smooth cosine embedding, and thrust-magnitude bounds. The method is implemented in MATLAB and evaluated with boundary-hugging maneuvers and Monte-Carlo uncertainty sampling. Results show improved constraint margins under uncertainty with tracking performance comparable to nominal NMPC.

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