A tube NMPC method uses parametric sensitivities to tighten constraints online for robust control of uncertain aerial vehicle chains.
Sensitivity-Aware Model Predictive Control for Robots With Para- metric Uncertainty
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Sensitivity-based robust NMPC eliminates tower clearance violations in multirotor wind turbine inspections under model and wind uncertainty by online constraint tightening, with moderate added computation.
citing papers explorer
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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.
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Sensitivity-Based Robust NMPC for Close-Proximity Offshore Wind Turbine Inspection with a Tilted Multirotor
Sensitivity-based robust NMPC eliminates tower clearance violations in multirotor wind turbine inspections under model and wind uncertainty by online constraint tightening, with moderate added computation.