Stabilizing NMPC Approaches for Underactuated Mechanical Systems on the SE(3) Manifold

摘要

This paper addresses the motion control problem for underactuated mechanical systems with full attitude control and one translational force input to manage the six degrees of freedom involved in the three-dimensional Euclidean space. These systems are often classified as second-order nonholonomic due to their completely nonintegrable acceleration constraints. To tackle this complex control problem, we propose two nonlinear model predictive control (NMPC) schemes that ensure closed-loop stability and recursive feasibility without terminal conditions. The system dynamics are modeled on the SE(3) manifold for a globally and unique description of rigid body configurations. One NMPC scheme also aims to reduce mission time as an economic criterion. The controllers' effectiveness is validated through numerical experiments on a quadrotor UAV.