A variable terminal set NMPC construction: application to multicopter stabilisation

In this paper we relax the standard NMPC (Nonlinear Model Predictive Control) through a variable terminal set construction for stabilizing a multicopter system. This contribution allows us to increase the feasible domain and/or reduce the required prediction horizon length. Furthermore, to reduce the complexity of the computations we use zonotopic sets which prove instrumental due to their efficient representation. The theoretical results are validated in simulation and experiment for the stabilisation along a trajectory of a nano-multicopter’s translational dynamics.