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A nonlinear model predictive control scheme with multirate integral sliding mode

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)

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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: 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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