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 by the Reviewers to obtain each Figure presented in the submitted manuscript. Brief description of the data provided. Fig6 DataRevised.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 DataRevised.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 DataRevised.xlsx: Experimental results used to model the relationship between Vsag and δ. Fig9a DataRevised.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 DataRevised.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 DataRevised.xlsx: The instantaneous power and cumulative energy consumption for the altitude change test with high battery voltage under the original MPC. Fig10b DataRevised.xlsx: The instantaneous power and cumulative energy consumption for the altitude change test with high battery voltage under the proposed MPC-DBAR. Fig11a DataRevised.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. Fig11b DataRevised.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. Fig12a DataRevised.xlsx: The instantaneous power and cumulative energy consumption for the altitude change test with low battery voltage under the original MPC. Fig12b DataRevised.xlsx: The instantaneous power and cumulative energy consumption for the altitude change test with low battery voltage under the proposed MPC-DBAR. Fig13a DataRevised.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. Fig13b DataRevised.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. Fig14a DataRevised.xlsx: The instantaneous power and cumulative energy consumption for the battery durability test under the original MPC. Fig14b DataRevised.xlsx: The instantaneous power and cumulative energy consumption for the battery durability test under the proposed MPC-DBAR. Fig15a DataRevised.xlsx: The quadrotor is programmed to maintain its hovering position under external distur-bances, using the original MPC. The experimental test considers a battery voltage of 14.5 V. Fig15b DataRevised.xlsx: The quadrotor is programmed to maintain its hovering position under external distur-bances, using the proposed MPC-DBAR. The experimental test considers a battery voltage of 14.5 V. Fig16a DataRevised.xlsx: The instantaneous power and cumulative energy consumption for the disturbance rejection test under the original MPC. Fig16b DataRevised.xlsx: The instantaneous power and cumulative energy consumption for the disturbance rejection test under the proposed MPC-DBAR.