  The aim of this article is the formulation of a switching model predictive
control framework for the case of a foldable quadrotor with the ability to
retain the overall control quality during online structural reformations. The
majority of the related scientific publications consider fixed morphology of
the aerial vehicles. Recent advances in mechatronics have brought novel
considerations for generalized aerial robotic designs with the ability to alter
their morphology in order to adapt to their environment, thus enhancing their
capabilities. Simulation results are provided to prove the efficacy of the
selected control scheme.
