A stabilizing NMPC design for thrust-propelled vehicles dynamics via feedback linearization

摘要

We propose an NMPC scheme for stabilizing the translational thrust-propelled dynamics. The novelty lies in the design of a nonlinear feedback linearization controller and of its associated terminal region. We show, in a constructive manner, that the region, given as an ellipsoidal set, is made invariant by the aforementioned controller under restrictive input constraints and thus ensures recursive feasibility and asymptotic stability for the closed-loop scheme. Simulation results and comparisons validate the proposed approach.