摘要：This paper focuses on the design，implementation and experimental validation ofa Tube-Based Model Predictive Control (TBMPC) law for the stabilization of the horizontaldynamics of an Unmanned Aerial Vehicle (UAV) quadrotor. These dynamics are modelled bya discrete-time linear system subject to additive disturbance and polytopic constraints，whichmodel is derived through an identification strategy from experimental flight data that is adaptedto the subsequent design of invariant sets. The results obtained from a validation flight withthe TBMPC law are presented to illustrate the robust state and control input constraintssatisfaction.
关键词：Tube-Based MPC;quadrotor UAV;robust control;constrained control
