A Discrete-Time Optimization-Based Sliding Mode Control Law for Linear Systems with Input and State Constraints

Matteo Rubagotti; Gian Paolo Incremona; Antonella Ferrara

doi:10.1109/CDC.2018.8619503

A Discrete-Time Optimization-Based Sliding Mode Control Law for Linear Systems with Input and State Constraints

Matteo Rubagotti, Gian Paolo Incremona, Antonella Ferrara

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Citations (Scopus)

Abstract

This paper proposes a discrete-time sliding mode control (DSMC) strategy for linear (possibly multi-input) systems with additive bounded disturbances, which guarantees the satisfaction of input and state constraints. The control law is generated by solving a finite-horizon optimal control problem at each sampling instant, aimed at obtaining a control variable that is as close as possible to a reference DSMC law, but at the same time enforces constraint satisfaction for all admissible disturbance values. Contrary to previously-proposed control approaches merging DSMC and model predictive control, our proposal guarantees the satisfaction of all standard properties of DSMC, and in particular the finite-time convergence of the state into a boundary layer of the sliding manifold.

Original language	English
Title of host publication	2018 IEEE Conference on Decision and Control, CDC 2018
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	5940-5945
Number of pages	6
ISBN (Electronic)	9781538613955
DOIs	https://doi.org/10.1109/CDC.2018.8619503
Publication status	Published - Jan 18 2019
Event	57th IEEE Conference on Decision and Control, CDC 2018 - Miami, United States Duration: Dec 17 2018 → Dec 19 2018

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
Volume	2018-December
ISSN (Print)	0743-1546

Conference

Conference	57th IEEE Conference on Decision and Control, CDC 2018
Country/Territory	United States
City	Miami
Period	12/17/18 → 12/19/18

ASJC Scopus subject areas

Control and Systems Engineering
Modelling and Simulation
Control and Optimization

Access to Document

10.1109/CDC.2018.8619503

Cite this

Rubagotti, M., Paolo Incremona, G., & Ferrara, A. (2019). A Discrete-Time Optimization-Based Sliding Mode Control Law for Linear Systems with Input and State Constraints. In 2018 IEEE Conference on Decision and Control, CDC 2018 (pp. 5940-5945). Article 8619503 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2018-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2018.8619503

A Discrete-Time Optimization-Based Sliding Mode Control Law for Linear Systems with Input and State Constraints. / Rubagotti, Matteo; Paolo Incremona, Gian; Ferrara, Antonella.
2018 IEEE Conference on Decision and Control, CDC 2018. Institute of Electrical and Electronics Engineers Inc., 2019. p. 5940-5945 8619503 (Proceedings of the IEEE Conference on Decision and Control; Vol. 2018-December).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Rubagotti, M, Paolo Incremona, G & Ferrara, A 2019, A Discrete-Time Optimization-Based Sliding Mode Control Law for Linear Systems with Input and State Constraints. in 2018 IEEE Conference on Decision and Control, CDC 2018., 8619503, Proceedings of the IEEE Conference on Decision and Control, vol. 2018-December, Institute of Electrical and Electronics Engineers Inc., pp. 5940-5945, 57th IEEE Conference on Decision and Control, CDC 2018, Miami, United States, 12/17/18. https://doi.org/10.1109/CDC.2018.8619503

Rubagotti M, Paolo Incremona G, Ferrara A. A Discrete-Time Optimization-Based Sliding Mode Control Law for Linear Systems with Input and State Constraints. In 2018 IEEE Conference on Decision and Control, CDC 2018. Institute of Electrical and Electronics Engineers Inc. 2019. p. 5940-5945. 8619503. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2018.8619503

Rubagotti, Matteo ; Paolo Incremona, Gian ; Ferrara, Antonella. / A Discrete-Time Optimization-Based Sliding Mode Control Law for Linear Systems with Input and State Constraints. 2018 IEEE Conference on Decision and Control, CDC 2018. Institute of Electrical and Electronics Engineers Inc., 2019. pp. 5940-5945 (Proceedings of the IEEE Conference on Decision and Control).

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AB - This paper proposes a discrete-time sliding mode control (DSMC) strategy for linear (possibly multi-input) systems with additive bounded disturbances, which guarantees the satisfaction of input and state constraints. The control law is generated by solving a finite-horizon optimal control problem at each sampling instant, aimed at obtaining a control variable that is as close as possible to a reference DSMC law, but at the same time enforces constraint satisfaction for all admissible disturbance values. Contrary to previously-proposed control approaches merging DSMC and model predictive control, our proposal guarantees the satisfaction of all standard properties of DSMC, and in particular the finite-time convergence of the state into a boundary layer of the sliding manifold.

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A Discrete-Time Optimization-Based Sliding Mode Control Law for Linear Systems with Input and State Constraints

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