Waypoint Tracking via Tube-based Robust Model Predictive Control for Crop Monitoring with Fixed-Wing UAVs

Crop monitoring and farm activities with innovative systems, as Unmanned Aerial Vehicles, is an undergoing research known as fourth agricultural revolution. In our paper, two different farming scenarios are proposed, in which a trajectory tracking based on Model Predictive Control is proposed in combination with a waypoint-based guidance algorithm. This Guidance and Control algorithm is also combined with an on-board sensor to characterize the measured data. Simulations are performed to show the effectiveness of the proposed control scheme.