A tube NMPC method uses parametric sensitivities to tighten constraints online for robust control of uncertain aerial vehicle chains.
Embedded Robust Model Predictive Path Integral Control Using Sensitivity Tubes and GPU Acceleration
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Sensitivity-Based Tube NMPC for Cooperative Aerial Structures Under Parametric Uncertainty
A tube NMPC method uses parametric sensitivities to tighten constraints online for robust control of uncertain aerial vehicle chains.