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
Publication statusPublished - Mar 26 2014
Externally publishedYes
Event2009 10th European Control Conference, ECC 2009 - Budapest, Hungary
Duration: Aug 23 2009Aug 26 2009

Conference

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

Fingerprint

Model predictive control
Nonlinear systems
Continuous time systems
Controllers
Closed loop systems

ASJC Scopus subject areas

  • Control and Systems Engineering

Cite this

Rubagotti, M., Raimondo, D. M., Ferrara, A., & Magni, L. (2014). Robust model predictive control of continuous-time sampled-data nonlinear systems with integral sliding mode. In 2009 European Control Conference, ECC 2009 (pp. 2247-2252). [7074739] Institute of Electrical and Electronics Engineers Inc..

Robust model predictive control of continuous-time sampled-data nonlinear systems with integral sliding mode. / Rubagotti, M.; Raimondo, D. M.; Ferrara, A.; Magni, L.

2009 European Control Conference, ECC 2009. Institute of Electrical and Electronics Engineers Inc., 2014. p. 2247-2252 7074739.

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

Rubagotti, M, Raimondo, DM, Ferrara, A & Magni, L 2014, Robust model predictive control of continuous-time sampled-data nonlinear systems with integral sliding mode. in 2009 European Control Conference, ECC 2009., 7074739, Institute of Electrical and Electronics Engineers Inc., pp. 2247-2252, 2009 10th European Control Conference, ECC 2009, Budapest, Hungary, 8/23/09.
Rubagotti M, Raimondo DM, Ferrara A, Magni L. Robust model predictive control of continuous-time sampled-data nonlinear systems with integral sliding mode. In 2009 European Control Conference, ECC 2009. Institute of Electrical and Electronics Engineers Inc. 2014. p. 2247-2252. 7074739
Rubagotti, M. ; Raimondo, D. M. ; Ferrara, A. ; Magni, L. / Robust model predictive control of continuous-time sampled-data nonlinear systems with integral sliding mode. 2009 European Control Conference, ECC 2009. Institute of Electrical and Electronics Engineers Inc., 2014. pp. 2247-2252
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