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

Matteo Rubagotti, Davide Martino Raimondo, Antonella Ferrara, Lalo Magni

Research output: Contribution to journalArticle

87 Citations (Scopus)

Abstract

This paper proposes a control strategy for nonlinear constrained continuous-time uncertain systems which combines robust model predictive control (MPC) with sliding mode control (SMC). In particular, the so-called Integral SMC approach is used to produce a control action aimed to reduce the difference between the nominal predicted dynamics of the closed-loop system and the actual one. In this way, the MPC strategy can be designed on a system with a reduced uncertainty. In order to prove the stability of the overall control scheme, some general regional input-to-state practical stability results for continuous-time systems are proved.

Original languageEnglish
Article number5570914
Pages (from-to)556-570
Number of pages15
JournalIEEE Transactions on Automatic Control
Volume56
Issue number3
DOIs
Publication statusPublished - Mar 1 2011
Externally publishedYes

Fingerprint

Model predictive control
Nonlinear systems
Sliding mode control
Continuous time systems
Uncertain systems
Closed loop systems

Keywords

  • Constrained control
  • nonlinear predictive control (NPC)
  • sampled data control
  • sliding mode control (SMC)
  • stability of nonlinear systems

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering

Cite this

Robust model predictive control with integral sliding mode in continuous-time sampled-data nonlinear systems. / Rubagotti, Matteo; Raimondo, Davide Martino; Ferrara, Antonella; Magni, Lalo.

In: IEEE Transactions on Automatic Control, Vol. 56, No. 3, 5570914, 01.03.2011, p. 556-570.

Research output: Contribution to journalArticle

Rubagotti, Matteo ; Raimondo, Davide Martino ; Ferrara, Antonella ; Magni, Lalo. / Robust model predictive control with integral sliding mode in continuous-time sampled-data nonlinear systems. In: IEEE Transactions on Automatic Control. 2011 ; Vol. 56, No. 3. pp. 556-570.
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