Abstract
In this paper, a discrete-time sliding mode control law is proposed for nonlinear (possibly multi-input) systems, in the presence of mixed input-state constraints and additive bounded disturbances. The control law is defined by formulating a nonlinear predictive control problem aimed at generating a control input that imitates an unconstrained discrete-time sliding mode law. In addition to satisfying input and state constraints, the resulting control law has all the properties of discrete-time sliding mode, and in particular, finite time convergence of the state onto the sliding manifold in the nominal case, or into an a-priori defined boundary layer of the sliding manifold in case bounded disturbances are present.
| Original language | English |
|---|---|
| Article number | 9199109 |
| Pages (from-to) | 3802-3809 |
| Number of pages | 8 |
| Journal | IEEE Transactions on Automatic Control |
| Volume | 66 |
| Issue number | 8 |
| DOIs | |
| Publication status | Published - Aug 2021 |
Funding
Manuscript received May 11, 2020; revised July 7, 2020; accepted September 12, 2020. Date of publication September 16, 2020; date of current version July 28, 2021. This work was supported by Nazarbayev University under Faculty Development Competitive Research Grant 240919FD3915. Recommended by Associate Editor D. Efimov. (Corresponding author: Matteo Rubagotti.) Matteo Rubagotti is with the Department of Robotics, and Mechatronics, Nazarbayev University, Nur-Sultan 010000, Kazakhstan (e-mail: [email protected]).
Keywords
- constrained control
- nonlinear predictive control
- Sliding mode control
- uncertain systems
ASJC Scopus subject areas
- Control and Systems Engineering
- Computer Science Applications
- Electrical and Electronic Engineering