Abstract

This paper highlights the benefits of a feedback linearization local controller and the associated terminal bound constraints (box-type inequalities) in an NMPC (Nonlinear Model Predictive Control) design for a multicopter system. We replace the standard invariant construction for the terminal region of the NMPC design with two sets: i) a δ-invariant set (with δ the sampling time) which constrains the trajectories to re-enter it periodically, at pre-defined moments of time; ii) a constraint admissible safe set in which the trajectories lie in the remaining time instants. We show that this alternative construction verifies the recursive feasibility and asymptotic stability. Moreover, the additional degrees of freedom and simpler construction show advantages over similar NMPC designs with standard ellipsoidal terminal region.
OriginalspracheEnglisch
Titel7th IFAC Conference on Nonlinear Model Predictive Control NMPC 2021
Seitenumfang7
Band54
Herausgeber (Verlag)Elsevier Inc.
Erscheinungsdatum07.2021
Auflage6
Seiten126-132
ISBN (Print)2405-8971
ISBN (elektronisch)2405-8963
DOIs
PublikationsstatusVeröffentlicht - 07.2021

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