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

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.