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 proceedingConference contribution

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 languageEnglish
Title of host publication2018 IEEE Conference on Decision and Control, CDC 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages5940-5945
Number of pages6
ISBN (Electronic)9781538613955
DOIs
Publication statusPublished - Jan 18 2019
Event57th IEEE Conference on Decision and Control, CDC 2018 - Miami, United States
Duration: Dec 17 2018Dec 19 2018

Publication series

NameProceedings of the IEEE Conference on Decision and Control
Volume2018-December
ISSN (Print)0743-1546

Conference

Conference57th IEEE Conference on Decision and Control, CDC 2018
CountryUnited States
CityMiami
Period12/17/1812/19/18

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ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Control and Optimization

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). [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