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The techniques of precision agriculture include the possibility to executecrop monitoring tasks through the application of Unmanned Aerial Vehicles(UAVs). These platforms are flexible, easy to use and low-cost, and they arethe best candidates for improving the farm efficiency and productivity. In thisresearch, a guidance algorithm and a robust control system are combined toguarantee the robustness of the system to additive noise (i.e. winddisturbance) and uncertainties (i.e. model parameter variations). A smallfixed-wing UAV with an autonomy of about $1$ hour is proposed as case study, toreduce the cost of monitoring and increasing the stability performance of thesystem. A waypoint-grid on a paddy field is verified by hardware-in-the looptests. The control scheme provides good results with a low computationaleffort, guaranteeing the repeatability of the monitoring and reduction of thecosts.

A Tube-based Robust MPC for a Fixed-wing UAV: an Application for Precision Farming