The nonlinear and unsteady nature of aircraft aerodynamics and limited range of controls and states make the use of linear control theory inadequate. For unmanned aerial systems in particular, control technology must evolve to a point where autonomy is extended to the entire mission flight envelope. This requires advanced controllers that have sufficient robustness, track complex trajectories, and use all the vehicle's control capabilities at higher levels of accuracy. In this work, a robust nonlinear model predictive controller is designed to command and control an unmanned aerial system to...