  In this paper, we present a stabilizing Nonlinear Model Predictive Control
(NMPC) scheme tailored for a class of nonholonomic systems with drift, where
the acceleration is laterally restrained. Examples include a mobile robot with
drifting wheels on a planar surface or a spacecraft maneuvering in a vacuum.
The novelty lies in the formulation of the terminal set, reachable from a
significant distance from the equilibrium, and the terminal cost, represented
as the integration of the stage cost. The proposed approach establishes
essential steps for ensuring stability and feasibility guarantees. Simulation
results substantiate the viability and effectiveness of the NMPC scheme.
