DocumentCode :
184509
Title :
Robust explicit nonlinear model predictive control with integral sliding mode
Author :
Chakrabarty, Ankush ; Dinh, Vu ; Buzzard, Gregery T. ; Zak, Stanislaw H. ; Rundell, Ann E.
Author_Institution :
Sch. of Electr. & Comput. Eng., Purdue Univ., West Lafayette, IN, USA
fYear :
2014
fDate :
4-6 June 2014
Firstpage :
2851
Lastpage :
2856
Abstract :
A robust control strategy for stabilizing nonlinear systems in the presence of additive bounded disturbances is proposed. The proposed control architecture is a novel combination of explicit nonlinear model predictive control (EMPC) and integral sliding mode control (ISMC). Feasibility analysis of a finite-horizon optimal control problem involved in deriving the EMPC control action is performed over a polytope of interest in the state space. A sparse sampling-based boundary detection algorithm is employed to compute an approximating polynomial bounding the feasible region. A sparse-grid based interpolation scheme with Chebyshev-Gauss-Lobatto nodes and Legendre-basis polynomials are used to design the stabilizing EMPC surface. The proposed method is appealing because of the simplicity of the controller construction in conjunction with its applicability to higher-dimensional problems, which stems from the scale-ability property of sparse-grids. Robustness to the designed EMPC is provided by the ISMC. A simulated example is provided to illustrate the efficacy and performance of the proposed control strategy for the stabilization of an uncertain nonlinear dynamical system.
Keywords :
Legendre polynomials; interpolation; nonlinear control systems; polynomial approximation; predictive control; robust control; variable structure systems; Chebyshev-Gauss-Lobatto nodes; EMPC control action; ISMC; Legendre-basis polynomials; additive bounded disturbances; control architecture; finite-horizon optimal control problem; higher-dimensional problems; integral sliding mode control; nonlinear system stability; polynomial bounding approximation; robust explicit nonlinear model predictive control strategy; sparse sampling-based boundary detection algorithm; sparse-grid based interpolation scheme; uncertain nonlinear dynamical system; Computational modeling; Interpolation; Optimal control; Polynomials; Robustness; Stability analysis; Explicit model predictive control; Integral sliding mode control; feasibility analysis; sparse grid interpolation;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference (ACC), 2014
Conference_Location :
Portland, OR
ISSN :
0743-1619
Print_ISBN :
978-1-4799-3272-6
Type :
conf
DOI :
10.1109/ACC.2014.6859143
Filename :
6859143
Link To Document :
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