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

Author(s):

M. Rubagotti, D. M. Raimondo, Antonella Ferrara, Lalo Magni
Conference/Journal:

European Control Conference (ECC), Budapest, Hungary
Abstract:

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.

Year:

2009
Type of Publication:

(01)Article
Supervisor:



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% Autogenerated BibTeX entry
@InProceedings { RubEtal:2009:IFA_3292,
    author={M. Rubagotti and D. M. Raimondo and Antonella Ferrara and Lalo Magni},
    title={{Robust model predictive control of continuous-time
	  sampled-data nonlinear systems with integral sliding mode}},
    booktitle={European Control Conference (ECC)},
    pages={},
    year={2009},
    address={Budapest, Hungary},
    month=aug,
    url={http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=3292}
}
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