Constrained Nonlinear Discrete-Time Sliding Mode Control Based on a Receding Horizon Approach

• 成果类型: Article
• 署名作者: Rubagotti, Matteo; Incremona, Gian Paolo; Raimondo, Davide M.; Ferrara, Antonella
• 署名单位: Nazarbayev University; Polytechnic University of Milan; University of Pavia
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.3024349
• 发表日期: 2021
• 页码: 3802-3809
• 关键词: convergence; Linear systems; Robustness; MANIFOLDS; Predictive control; nonlinear dynamical systems; Constrained control; nonlinear predictive control; Sliding mode control; uncertain systems

摘要

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.