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

Huu Thien Nguyen; Ngoc Thinh Nguyen; Ionela Prodan

doi:10.1016/j.automatica.2023.111375

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

Huu Thien Nguyen^*, Ngoc Thinh Nguyen, Ionela Prodan

^*Corresponding author for this work

Institute of Robotics and Cognitive Systems

5 Citations (Scopus)

Abstract

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.

Original language	English
Article number	111375
Journal	Automatica
Volume	159
Pages (from-to)	111375
Number of pages	8
ISSN	0005-1098
DOIs	https://doi.org/10.1016/j.automatica.2023.111375
Publication status	Published - 01.2024

Funding

This work has been partially supported by the PHC Alliance Hubert Curien Programme, France (PHC PESSOA, Projet no. 47913XD), La Région, Pack Ambition Recherche 2021 - PlanMAV and by the French National Research Agency, France in the framework of the ‘‘Investissements d’avenir" program ‘‘ANR-15-IDEX-02" and the LabEx PERSYVAL, France ‘‘ANR-11-LABX-0025-01". Huu Thien Nguyen is supported by FCT/MCTES (PIDDAC), Portugal under grants 2020.07959.BD, 2021.09306.CBM, 2022.02801.PTDC, LA/P/0112/2020, UIDB/00147/2020, UIDP/00147/2020. Ngoc Thinh Nguyen is funded by the German Ministry of Food and Agriculture (BMEL) Project No. 28DK133A20.

Funders	Funder number
LabEx PERSYVAL	ANR-11-LABX-0025-01
Providence Health Care	47913XD
Ministry of Agriculture and Food
Agence Nationale de la Recherche	ANR-15-IDEX-02
Fundação para a Ciência e a Tecnologia
Bundesministerium für Ernährung und Landwirtschaft	28DK133A20
Ministério da Ciência, Tecnologia e Ensino Superior	2021.09306, 2020.07959, 2022.02801

UN SDGs

This output contributes to the following UN Sustainable Development Goals (SDGs)

SDG 3 Good Health and Well-being
SDG 9 Industry, Innovation, and Infrastructure

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10.1016/j.automatica.2023.111375

Cite this

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title = "Notes on the terminal region enlargement of a stabilizing NMPC design for a multicopter",

abstract = "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.",

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N2 - 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.

AB - 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.

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DO - 10.1016/j.automatica.2023.111375

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SP - 111375

JO - Automatica

JF - Automatica

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ER -

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

Abstract

Funding

UN SDGs

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