This paper investigates robust tube-based Model Predictive Control (MPC) of a tiltwing Vertical Take-Off and Landing (VTOL) aircraft subject to wind disturbances and model uncertainty. Our approach is based on a Difference of Convex (DC) function decomposition of the dynamics to develop a computationally tractable optimisation with robust tubes for the system trajectories. We consider a case study of a VTOL aircraft subject to wind gusts and whose aerodynamics is defined from data.
@article{arxiv.2308.03557,
title = {Data-driven robust MPC of tiltwing VTOL aircraft},
author = {Martin Doff-Sotta and Mark Cannon and Marko Bacic},
journal= {arXiv preprint arXiv:2308.03557},
year = {2023}
}