# Robust Adaptive Model Predictive Control of Quadrotors

arXiv: https://arxiv.org/abs/2102.13544 · HTML: https://mlsanity.com/paper/2102.13544/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 26 Feb 2021.

## Built on by (most cited first, 1 of 1)

- [A robust and adaptive MPC formulation for Gaussian process models](https://mlsanity.com/paper/2507.02098/) (2025)

## Abstract (arXiv)

Robust adaptive model predictive control (RAMPC) is a novel control method that combines robustness guarantees with respect to unknown parameters and bounded disturbances into a model predictive control scheme. However, RAMPC has so far only been developed in theory. The goal of this paper is to apply RAMPC to a physical quadrotor experiment. To the best of our knowledge this is the first time that RAMPC has been applied in practice using a state space formulation. In doing so, we highlight important practical challenges such as computation of λ-contractive polytopes and dealing with measurement noise, and propose modifications to RAMPC so that it can be applied on a quadrotor. We first simulate quadrotor flight with a direct and a decoupled control architecture in different scenarios. The scenarios include: (i) an unknown mass of the quadrotor as a package delivery scenario with wind as a bounded disturbance; and (ii) all rotor efficiencies drop as a power delivery problem. We then implement these scenarios on a physical quadrotor and present the experimental results.