This paper addresses the problem of industrial chimney inspection using autonomous
helicopters. The importance of using these platforms is evidenced by the maintenance cost
and risk reduction stemming from the replacement of the standard procedures and the
improved detection of structural defects. The approach presented relies on the definition of a
trajectory-dependent error space to express the dynamic model of the vehicle, and adopts a
Linear Parameter Varying (LPV) representation with piecewise affine dependence on the …