A tube NMPC method uses parametric sensitivities to tighten constraints online for robust control of uncertain aerial vehicle chains.
Multi-directional Interaction Force Control with an Aerial Manipu- lator Under External Disturbances,
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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.