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This paper investigates robust tube-based Model Predictive Control (MPC) of atiltwing Vertical Take-Off and Landing (VTOL) aircraft subject to winddisturbances and model uncertainty. Our approach is based on a Difference ofConvex (DC) function decomposition of the dynamics to develop a computationallytractable optimisation with robust tubes for the system trajectories. Weconsider a case study of a VTOL aircraft subject to wind gusts and whoseaerodynamics is defined from data.

Data-driven robust MPC of tiltwing VTOL aircraft