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

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

doi:10.23919/ecc.2009.7074739

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 proceeding › Conference contribution

2 Citations (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 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
DOIs	https://doi.org/10.23919/ecc.2009.7074739
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

Publication series

Name	2009 European Control Conference, ECC 2009

Conference

Conference	2009 10th European Control Conference, ECC 2009
Country/Territory	Hungary
City	Budapest
Period	8/23/09 → 8/26/09

ASJC Scopus subject areas

Control and Systems Engineering

Access to Document

10.23919/ecc.2009.7074739

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). Article 7074739 (2009 European Control Conference, ECC 2009). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.23919/ecc.2009.7074739

Robust model predictive control of continuous-time sampled-data nonlinear systems with integral sliding mode. / Rubagotti, M.; Raimondo, D. M.; Ferrara, A. et al.
2009 European Control Conference, ECC 2009. Institute of Electrical and Electronics Engineers Inc., 2014. p. 2247-2252 7074739 (2009 European Control Conference, ECC 2009).

Research output: Chapter in Book/Report/Conference proceeding › Conference 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, 2009 European Control Conference, ECC 2009, Institute of Electrical and Electronics Engineers Inc., pp. 2247-2252, 2009 10th European Control Conference, ECC 2009, Budapest, Hungary, 8/23/09. https://doi.org/10.23919/ecc.2009.7074739

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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.",

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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.

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

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