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 language | English |
|---|---|
| Title of host publication | 2009 European Control Conference, ECC 2009 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 2247-2252 |
| Number of pages | 6 |
| ISBN (Electronic) | 9783952417393 |
| Publication status | Published - Mar 26 2014 |
| Externally published | Yes |
| Event | 2009 10th European Control Conference, ECC 2009 - Budapest, Hungary Duration: Aug 23 2009 → Aug 26 2009 |
Conference
| Conference | 2009 10th European Control Conference, ECC 2009 |
|---|---|
| Country | Hungary |
| City | Budapest |
| Period | 8/23/09 → 8/26/09 |
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ASJC Scopus subject areas
- Control and Systems Engineering
Cite this
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 proceeding › Conference contribution
}
TY - GEN
T1 - Robust model predictive control of continuous-time sampled-data nonlinear systems with integral sliding mode
AU - Rubagotti, M.
AU - Raimondo, D. M.
AU - Ferrara, A.
AU - Magni, L.
PY - 2014/3/26
Y1 - 2014/3/26
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=84955177933&partnerID=8YFLogxK
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M3 - Conference contribution
AN - SCOPUS:84955177933
SP - 2247
EP - 2252
BT - 2009 European Control Conference, ECC 2009
PB - Institute of Electrical and Electronics Engineers Inc.
ER -