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
UR - http://www.scopus.com/inward/citedby.url?scp=84955177933&partnerID=8YFLogxK
U2 - 10.23919/ecc.2009.7074739
DO - 10.23919/ecc.2009.7074739
M3 - Conference contribution
AN - SCOPUS:84955177933
T3 - 2009 European Control Conference, ECC 2009
SP - 2247
EP - 2252
BT - 2009 European Control Conference, ECC 2009
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2009 10th European Control Conference, ECC 2009
Y2 - 23 August 2009 through 26 August 2009
ER -