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)
Full text not available from this repository.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.
| Item Type: | Conference or Workshop Item (Paper) |
|---|---|
| Subjects: | T Technology > TJ Mechanical engineering and machinery |
| Research Area: | Computer Science and Applications |
| Depositing User: | Users 37 not found. |
| Date Deposited: | 06 Mar 2012 13:28 |
| Last Modified: | 30 Sep 2013 12:25 |
| URI: | http://eprints.imtlucca.it/id/eprint/1220 |
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