Constrained Nonlinear Discrete-Time Sliding Mode Control Based on a Receding Horizon Approach

Matteo Rubagotti; Gian Paolo Incremona; Davide Martino Raimondo; Antonella Ferrara

doi:10.1109/TAC.2020.3024349

Constrained Nonlinear Discrete-Time Sliding Mode Control Based on a Receding Horizon Approach

Matteo Rubagotti, Gian Paolo Incremona, Davide Martino Raimondo, Antonella Ferrara

Nazarbayev University

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

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
Journal	IEEE Transactions on Automatic Control
DOIs	https://doi.org/10.1109/TAC.2020.3024349
Publication status	Accepted/In press - 2020

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

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10.1109/TAC.2020.3024349

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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.",

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author = "Matteo Rubagotti and Incremona, {Gian Paolo} and Raimondo, {Davide Martino} and Antonella Ferrara",

year = "2020",

doi = "10.1109/TAC.2020.3024349",

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AU - Rubagotti, Matteo

AU - Incremona, Gian Paolo

AU - Raimondo, Davide Martino

AU - Ferrara, Antonella

PY - 2020

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N2 - 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.

AB - 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.

KW - constrained control

KW - nonlinear predictive control

KW - Sliding mode control

KW - uncertain systems

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Constrained Nonlinear Discrete-Time Sliding Mode Control Based on a Receding Horizon Approach

Abstract

Keywords

ASJC Scopus subject areas

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