Rubagotti, Matteo and Raimondo, Davide Martino and Jones, Colin Neil and Magni, Lalo and Ferrara, Antonella and Morari, Manfred A nonlinear model predictive control scheme with multirate integral sliding mode. In: 8th IFAC Symposium on Nonlinear Control Systems. IFAC, pp. 232-237. (2010)
Full text not available from this repository.Abstract
In this paper, a hierarchical multirate control scheme for nonlinear discrete-time systems is proposed, composed of a robust model predictive controller (MPC) and a multirate integral sliding mode (MISM) controller. In particular, the MISM controller acts at a faster sampling time than the MPC controller, and reduces the effect of model uncertainties and external disturbances, in order to obtain, at the next sampling instant of the MPC controller, a value of the system state that is as close as possible to the nominal one. To obtain this result, the control variable is composed of two parts: one generated by the MPC controller, and the other by the MISM controller. The a-priori reduction of the disturbance terms turns out to be very useful in order to improve the convergence properties of the MPC controller.
| Item Type: | Book Section |
|---|---|
| Identification Number: | https://doi.org/10.3182/20100901-3-IT-2016.00172 |
| Uncontrolled Keywords: | Nonlinear Model Predictive Control Theory and Applications; Variable Structure Control and Sliding Mode; Robustness |
| Subjects: | Q Science > QA Mathematics > QA75 Electronic computers. Computer science T Technology > TL Motor vehicles. Aeronautics. Astronautics |
| Research Area: | Computer Science and Applications |
| Depositing User: | Users 37 not found. |
| Date Deposited: | 06 Mar 2012 12:06 |
| Last Modified: | 30 Sep 2013 12:27 |
| URI: | http://eprints.imtlucca.it/id/eprint/1216 |
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