Table 1.

Key parameter configuration of the MPC controller.

Parameter	Symbol	Value/Range	Physical Meaning
Prediction horizon		20	Number of future steps covered by the optimization
Control horizon		8	Degrees of freedom for control action
State weighting matrix			Penalty weights for position and attitude errors
Control weighting matrix			Penalty weights for control increment changes
H∞ tuning factor		1.5	Weighting coefficient for robustness performance term
Input rate constraint			Maximum allowable rate of control change per channel
Slack penalty coefficient			Penalty intensity for constraint violations