The results provided in this paper show, that the presented control strategy is applicable to the novel robotic VTOL UAV landing system. We plan to use a more elaborated model of the UAV connected to the manipulator in order to increase the performance of the controllers even further. Currently, we are working on a floating base model of the manipulator in order to account for platform movements, e.g. ship motions. In the next step, we are going to incorporate disturbance observation and base motion compensation as well as actuator limits of the aerial vehicle in the control approach.