TY - JOUR
T1 - Constrained Nonlinear Discrete-Time Sliding Mode Control Based on a Receding Horizon Approach
AU - Rubagotti, Matteo
AU - Incremona, Gian Paolo
AU - Raimondo, Davide Martino
AU - Ferrara, Antonella
N1 - Funding Information:
Manuscript received May 11, 2020; revised July 7, 2020; accepted September 12, 2020. Date of publication September 16, 2020; date of current version July 28, 2021. This work was supported by Nazarbayev University under Faculty Development Competitive Research Grant 240919FD3915. Recommended by Associate Editor D. Efimov. (Corresponding author: Matteo Rubagotti.) Matteo Rubagotti is with the Department of Robotics, and Mechatronics, Nazarbayev University, Nur-Sultan 010000, Kazakhstan (e-mail: [email protected]).
Publisher Copyright:
© 1963-2012 IEEE.
PY - 2021/8
Y1 - 2021/8
N2 - In this paper, a discrete-time sliding mode control law is proposed for nonlinear (possibly multi-input) systems, in the presence of mixed input-state constraints and additive bounded disturbances. The control law is defined by formulating a nonlinear predictive control problem aimed at generating a control input that imitates an unconstrained discrete-time sliding mode law. In addition to satisfying input and state constraints, the resulting control law has all the properties of discrete-time sliding mode, and in particular, finite time convergence of the state onto the sliding manifold in the nominal case, or into an a-priori defined boundary layer of the sliding manifold in case bounded disturbances are present.
AB - In this paper, a discrete-time sliding mode control law is proposed for nonlinear (possibly multi-input) systems, in the presence of mixed input-state constraints and additive bounded disturbances. The control law is defined by formulating a nonlinear predictive control problem aimed at generating a control input that imitates an unconstrained discrete-time sliding mode law. In addition to satisfying input and state constraints, the resulting control law has all the properties of discrete-time sliding mode, and in particular, finite time convergence of the state onto the sliding manifold in the nominal case, or into an a-priori defined boundary layer of the sliding manifold in case bounded disturbances are present.
KW - constrained control
KW - nonlinear predictive control
KW - Sliding mode control
KW - uncertain systems
UR - https://www.scopus.com/pages/publications/85091315650
UR - https://www.scopus.com/pages/publications/85091315650#tab=citedBy
U2 - 10.1109/TAC.2020.3024349
DO - 10.1109/TAC.2020.3024349
M3 - Article
AN - SCOPUS:85091315650
SN - 0018-9286
VL - 66
SP - 3802
EP - 3809
JO - IEEE Transactions on Automatic Control
JF - IEEE Transactions on Automatic Control
IS - 8
M1 - 9199109
ER -