Robust model predictive control of continuous-time sampled-data nonlinear systems with integral sliding mode

M. Rubagotti, D. M. Raimondo, A. Ferrara, L. Magni

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

A hierarchical Nonlinear Model Predictive Control (NMPC) scheme with guaranteed Input-to-State-practical-Stability (ISpS) is proposed. The controller is formed by an Integral Sliding Mode (ISM) controller and a NMPC one. The ISM, relying on the knowledge of the nominal continuous-time model of the system and of the piecewise constant control signal generated by the NMPC produces a control action aimed at reducing the difference between the dynamics of the nominal closed-loop system and the actual evolution of the state. The NMPC in this way can be designed based on a system with reduced uncertainty. In order to prove the stability of the overall control scheme, some general Regional ISpS results for continuous-time systems are proven.

Original languageEnglish
Title of host publication2009 European Control Conference, ECC 2009
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages2247-2252
Number of pages6
ISBN (Electronic)9783952417393
DOIs
Publication statusPublished - Mar 26 2014
Externally publishedYes
Event2009 10th European Control Conference, ECC 2009 - Budapest, Hungary
Duration: Aug 23 2009Aug 26 2009

Publication series

Name2009 European Control Conference, ECC 2009

Conference

Conference2009 10th European Control Conference, ECC 2009
CountryHungary
CityBudapest
Period8/23/098/26/09

ASJC Scopus subject areas

  • Control and Systems Engineering

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