eprintid: 1208
rev_number: 9
eprint_status: archive
userid: 37
dir: disk0/00/00/12/08
datestamp: 2012-03-02 15:30:33
lastmod: 2013-09-30 12:33:14
status_changed: 2012-03-02 15:30:33
type: article
metadata_visibility: show
creators_name: Rubagotti, Matteo
creators_name: Raimondo, Davide Martino
creators_name: Ferrara, Antonella
creators_name: Magni, Lalo
title: Robust model predictive control with integral sliding mode in continuous-time sampled-data nonlinear systems
ispublished: pub
subjects: QA75
subjects: TJ
divisions: CSA
full_text_status: none
keywords: closed-loop system; continuous-time sampled-data nonlinear uncertain systems; input-to-state practical stability; integral sliding mode control; robust model predictive control; stability; closed loop systems; continuous time systems; nonlinear control systems; predictive control; robust control; sampled data systems; uncertain systems; variable structure systems
abstract: This paper proposes a control strategy for nonlinear constrained continuous-time uncertain systems which combines robust model predictive control (MPC) with sliding mode control (SMC). In particular, the so-called Integral SMC approach is used to produce a control action aimed to reduce the difference between the nominal predicted dynamics of the closed-loop system and the actual one. In this way, the MPC strategy can be designed on a system with a reduced uncertainty. In order to prove the stability of the overall control scheme, some general regional input-to-state practical stability results for continuous-time systems are proved.
date: 2011-03
date_type: published
publication: IEEE Transactions on Automatic Control 
volume: 56
number: 3
publisher: IEEE 
pagerange: 556 -570
id_number: 10.1109/TAC.2010.2074590
refereed: TRUE
issn: 0018-9286
official_url: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5570914&isnumber=5725246
projects: This work was supported in part by the European Commission under the Project Feednetback FP7-ICT-223866 and by the Italian PRIN project “Model predictive control algorithms for artificial pancreas.”
citation:   Rubagotti, Matteo and Raimondo, Davide Martino and Ferrara, Antonella and Magni, Lalo  Robust model predictive control with integral sliding mode in continuous-time sampled-data nonlinear systems.  IEEE Transactions on Automatic Control , 56 (3).  556 -570.  ISSN 0018-9286      (2011)