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

DOI10.1016/J.AUTOMATICA.2023.111375MaRDI QIDQ6537332zbMATH OpenFDO

Authors Huu Thien Nguyen, Ngoc Thinh Nguyen, Ionela Prodan

Publication date 14 May 2024

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/J.AUTOMATICA.2023.111375

zbMATH Keywords

multicoptersNMPC (nonlinear model predictive control)semi-globally asymptotic stabilityterminal invariant set

Mathematics Subject Classification ID

Model predictive control (93B45) Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Asymptotic stability in control theory (93D20)

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Cites work

• A quasi-infinite horizon nonlinear model predictive control scheme with guaranteed stability
• CasADi: a software framework for nonlinear optimization and optimal control
• Constrained anti-disturbance control for a quadrotor based on differential flatness
• Constrained model predictive control: Stability and optimality
• Enlarged terminal sets guaranteeing stability of receding horizon control.
• Enlargement of polytopic terminal region in NMPC by interpolation and partial invariance.
• Enlarging the domain of attraction of MPC controllers
• Flat trajectory design and tracking with saturation guarantees: a nano-drone application
• Global and semi-global stabilizability in certain cascade nonlinear systems
• Model Predictive Control of Continuous-Time Nonlinear Systems With Piecewise Constant Control
• Nonlinear model predictive control with polytopic invariant sets.
• On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming
• Stability proof for nonlinear MPC design using monotonically increasing weighting profiles without terminal constraints

Cited in

(1)

• Nonlinear model predictive control trajectory tracking for a fixed-wing UAV in a deep-stall and perching landing maneuver with guaranteed stability

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