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 |
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Journal | IEEE Transactions on Automatic Control |
DOIs | |
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