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Robust one-step-ahead model predictive control of VTOL-UAVs

This paper presents a simple continuous-time controller, based on the minimization of the predicted tracking errors, applied to unmanned aerial vehicle with fixed payload variations. This nonlinear controller ensures the asymptotic stability of the tracking errors of both attitude, take-off, hovering, and landing. To increase the robustness of this algorithm with regards to payload variations, an integral action has been included in height-loop. Simulation results show the effectiveness of the proposed algorithm.