Abstract
This paper deals with a cascade scheme of the explicit nonlinear generalized predictive control (ENGPC) law for a quadrotor aircraft model. Such a controller is designed in order to achieve suitable tracking performance for payload delivery application in a logistics context despite the presence of an unknown parameter, namely, the charge mass. The structure of the proposed control law is made up of two nested loops which lead to well monitoring the internal fictive variables of the plant with respect to both internal subsystems having different time scales. Robustness behavior against parameter uncertainties, as well as the ability to handle external disturbances are studied in numerical simulation. The obtained results are compared to those arising from the single loop ENGPC in order to highlight the effectiveness of the proposed control algorithm.