Design and parameter tuning of a robust model predictive controller for UAVs

International audienceTwo formulations of model predictive control (MPC) that have robustness properties over conventional MPC are presented and studied for the control of the translational dynamics of an Unmanned Aerial Vehicle (UAV). These controllers are using results from invariant sets theory. Their tuning is studied, and their performances are compared in simulations in a context of bounded additive disturbance