eprintid: 1220
rev_number: 8
eprint_status: archive
userid: 37
dir: disk0/00/00/12/20
datestamp: 2012-03-06 13:28:10
lastmod: 2013-09-30 12:25:32
status_changed: 2012-03-06 13:28:10
type: conference_item
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 of continuous-time sampled-data nonlinear systems with integral sliding mode
ispublished: submitted
subjects: TJ
divisions: CSA
full_text_status: none
pres_type: paper
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.
date: 2009-08
date_type: published
place_of_pub: Budapest, Hungary
event_title: European Control Conference
event_location: Budapest, Hungary
event_dates: 23-26 August 2009
event_type: conference
refereed: TRUE
official_url: http://control.ee.ethz.ch/index.cgi?page=publications;action=details;id=3292
citation:   Rubagotti, Matteo and Raimondo, Davide Martino and Ferrara, Antonella and Magni, Lalo  Robust model predictive control of continuous-time sampled-data nonlinear systems with integral sliding mode.  In: European Control Conference, 23-26 August 2009, Budapest, Hungary       (Submitted)   (2009)