Experimental Setup and Experimental Results

The data were recorded in real-time using a QDrone 2 quadrotor from Quanser®. It is provided in raw form to allow full reproducibility of the results. Each Excel file (*.xlsx) contains the columns required to obtain each Figure presented in the submitted manuscript. Brief description of the data provided. Fig6 Data.xlsx: During the entire battery cycle, the quadrotor is programmed to perform pulses in the z-axis at a constant rate and a fixed δ value. Then, Vsag=Vavg-Vmin are obtained. Fig7 Data.xlsx: Vsags obtained when the quadrotor is programmed to perform pulses in the z-axis at a constant rate and considering different δ values. Fig8 Data.xlsx: Experimental results used to model the relationship between Vsag and δ. Fig9a Data.xlsx: The quadrotor is programmed to perform 1 [m] step change along the z-axis under the original MPC and considering a battery level votage of 15.5 [V]. Fig9b Data.xlsx: The quadrotor is programmed to perform 1 [m] step change along the z-axis under the proposed MPC-DBAR and considering a battery level votage of 15.5 [V]. Fig10a Data.xlsx: The quadrotor is programmed to perform 1 [m] step change along the z-axis under the original MPC and considering a battery level votage of 14.4 [V]. Fig10b Data.xlsx: The quadrotor is programmed to perform 1 [m] step change along the z-axis under the proposed MPC-DBAR and considering a battery level votage of 14.4 [V]. Fig11a Data.xlsx: The quadrotor is programmed to execute a 1 [m] step change along the z-axis every 7 [s] under the original MPC. The experimental test starts with a battery voltage of 15.5 [V] and ends when it decreases below 14 [V] safety threshold. Fig11b Data.xlsx: The quadrotor is programmed to execute a 1 [m] step change along the z-axis every 7 [s] under the proposed MPC-DBAR. The experimental test starts with a battery voltage of 15.5 [V] and ends when it decreases below 14 [V] safety threshold. Fig12a Data.xlsx: The quadrotor is programmed to maintain its hovering position under external disturbances, using the original MPC. The experimental test considers a battery voltage of 14.5 [V]. Fig12b Data.xlsx: The quadrotor is programmed to maintain its hovering position under external disturbances, using the proposed MPC-DBAR. The experimental test considers a battery voltage of 14.5 [V].