Constrained Nonlinear Discrete-Time Sliding Mode Control Based on a Receding Horizon Approach
Rubagotti M. Incremona G.P. Raimondo D.M. Ferrara A.
August 2021Institute of Electrical and Electronics Engineers Inc.
IEEE Transactions on Automatic Control
2021#66Issue 83802 - 3809 pp.
In this article, a discrete-time sliding mode control law is proposed for nonlinear (possibly multiinput) 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.
Constrained control , nonlinear predictive control , sliding mode control , uncertain systems
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Department of Robotics and Mechatronics, Nazarbayev University, Nur-Sultan, 010000, Kazakhstan
Dipartimento di Elettronica Informazione e Bioingegneria, Politecnico di Milano, Milan, 20133, Italy
Dipartimento di Ingegneria Industriale e DellInformazione, Università Degli Studi di Pavia, Pavia, 27100, Italy
Department of Robotics and Mechatronics
Dipartimento di Elettronica Informazione e Bioingegneria
Dipartimento di Ingegneria Industriale e DellInformazione
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