Multirate sliding mode disturbance compensation for model predictive control

D. M. Raimondo, Matteo Rubagotti, Caroline N. Jones, L. Magni, A. Ferrara, M. Morari

Research output: Contribution to journalArticle

11 Citations (Scopus)

Abstract

Summary In this paper, a novel hierarchical multirate control scheme for nonlinear discrete-time systems is presented, consisting of a robust nonlinear model predictive controller (NMPC) and a multirate sliding mode disturbance compensator (MSMDC). The proposed MSMDC acts at a faster rate than the NMPC in order to keep the system as close as possible to the nominal trajectory predicted by NMPC despite model uncertainties and external disturbances. The a priori disturbance compensation turns out to be very useful in order to improve the robustness of the NMPC controller. A dynamic input allocation between MSMDC and NMPC allows to maximize the benefits of the proposed scheme that unites the advantages of sliding mode control (strong reduction of matched disturbances, low computational burden) to those of NMPC (optimality, constraints handling). Sufficient conditions required to guarantee input-to-state stability and constraints satisfaction by the overall scheme are also provided.

Original languageEnglish
Pages (from-to)2984-3003
Number of pages20
JournalInternational Journal of Robust and Nonlinear Control
Volume25
Issue number16
DOIs
Publication statusPublished - Nov 10 2015

Fingerprint

Model predictive control
Controllers
Sliding mode control
Compensation and Redress
Robustness (control systems)
Trajectories

Keywords

  • model predictive control
  • sliding mode control
  • uncertain systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Chemical Engineering(all)
  • Biomedical Engineering
  • Aerospace Engineering
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

Cite this

Multirate sliding mode disturbance compensation for model predictive control. / Raimondo, D. M.; Rubagotti, Matteo; Jones, Caroline N.; Magni, L.; Ferrara, A.; Morari, M.

In: International Journal of Robust and Nonlinear Control, Vol. 25, No. 16, 10.11.2015, p. 2984-3003.

Research output: Contribution to journalArticle

Raimondo, D. M. ; Rubagotti, Matteo ; Jones, Caroline N. ; Magni, L. ; Ferrara, A. ; Morari, M. / Multirate sliding mode disturbance compensation for model predictive control. In: International Journal of Robust and Nonlinear Control. 2015 ; Vol. 25, No. 16. pp. 2984-3003.
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