A tube NMPC method uses parametric sensitivities to tighten constraints online for robust control of uncertain aerial vehicle chains.
MPC on manifolds with an application to the control of spacecraft attitude on SO(3)
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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.