Chikasha, Piwai Nigel2019-11-252019-11-252018https://hdl.handle.net/10539/28549A Dissertation submitted to the Faculty of Engineering and the Built Environment, University of the Witwatersrand, Johannesburg, in partial fulfilment of the requirements of the degree of Master of Science, November 2018This work explores the application of Adaptive Model Predictive Control (AMPC) to a quadrotor, given some delivery (varying load) task. In simulations, this is investigated as a pick-and-place task for a delivery quadrotor, then in experiment, as a load-drop-off stabilization task. [Abbreviated Abstract. Open document to view full version]enThesis