Notes on the terminal region enlargement of a stabilizing NMPC design for a multicopter¿

• Type: Article in International Scientific Journal
• Date: 2024

Authors

Nguyen, HT (Author) Other; Nguyen, NT (Author) Other; Prodan, I (Author) Other

Journal

Title: Automatica

Vol. 159

ISSN: 0005-1098

Publisher: Elsevier

Indexing

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Other information

Authenticus ID: P-00Z-9WG

DOI: 10.1016/j.automatica.2023.111375

Abstract (EN): This work proposes an NMPC scheme for stabilizing multicopter dynamics with semi-globally asymptotic stability guarantees. Recurrent issues in the state of the art, such as the existence of a terminal invariant set and a decreasing terminal cost under a local controller are analyzed. Within this context, the novelty resides in the use of a nonlinear local controller with feedback linearization properties which allows for arbitrary enlargement of the ellipsoidal terminal region with respect to the initial conditions. The framework is completed through a detailed analysis of the NMPC parameters. Comparisons and simulations for a nanodrone system show the benefits of the approach. (c) 2023 The Authors. Published by Elsevier Ltd. This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/).

Language: English

Type (Professor's evaluation): Scientific

No. of pages: 8