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.
|Title of host publication
|2018 IEEE Conference on Decision and Control, CDC 2018
|Institute of Electrical and Electronics Engineers Inc.
|Number of pages
|Published - Jan 18 2019
|57th IEEE Conference on Decision and Control, CDC 2018 - Miami, United States
Duration: Dec 17 2018 → Dec 19 2018
|Proceedings of the IEEE Conference on Decision and Control
|57th IEEE Conference on Decision and Control, CDC 2018
|12/17/18 → 12/19/18
ASJC Scopus subject areas
- Control and Systems Engineering
- Modelling and Simulation
- Control and Optimization