Robust Model Predictive Control With Integral Sliding Mode in Continuous-Time Sampled-Data Nonlinear Systems

Author

Rubagotti, Matteo ; Raimondo, Davide M. ; Ferrara, Antonella ; Magni, Lalo

Author_Institution

Dept. of Mech. & Struct. Eng., Univ. of Trento, Trento, Italy

Volume

56

Issue

3

fYear

2011

fDate

3/1/2011 12:00:00 AM

Firstpage

556

Lastpage

570

Abstract

This paper proposes a control strategy for nonlinear constrained continuous-time uncertain systems which combines robust model predictive control (MPC) with sliding mode control (SMC). In particular, the so-called Integral SMC approach is used to produce a control action aimed to reduce the difference between the nominal predicted dynamics of the closed-loop system and the actual one. In this way, the MPC strategy can be designed on a system with a reduced uncertainty. In order to prove the stability of the overall control scheme, some general regional input-to-state practical stability results for continuous-time systems are proved.

Keywords

closed loop systems; continuous time systems; nonlinear control systems; predictive control; robust control; sampled data systems; uncertain systems; variable structure systems; closed-loop system; continuous-time sampled-data nonlinear uncertain systems; input-to-state practical stability; integral sliding mode control; robust model predictive control; stability; Constrained control; nonlinear predictive control (NPC); sampled data control; sliding mode control (SMC); stability of nonlinear systems;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/TAC.2010.2074590

Filename

5570914