Tube Model Predictive Control with an Auxiliary Sliding Mode Controller
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چکیده
منابع مشابه
Tube Model Predictive Control with an Auxiliary Sliding Mode Controller
This paper studies Tube Model Predictive Control (MPC) with a Sliding Mode Controller (SMC) as an auxiliary controller. It is shown how to calculate the tube widths under SMC control, and thus how much the constraints of the nominal MPC have to be tightened in order to achieve robust stability and constraint fulfillment. The analysis avoids the assumption of infinitely fast switching in the SMC...
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1Dept. of Electrical, Computer and Biomedical Engineering, University of Pavia, 27100 Pavia, Italy 2Dept. of Robotics and Mechatronics, Nazarbayev University, 010000 Astana, Kazakhstan 3Institute of Mechanical Engineering, Federal Institute of Technology (EPFL), 1015 Lausanne, Switzerland 4Civil Engineering and Architecture Department, University of Pavia, 27100 Pavia, Italy 5Automatic Control ...
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An important consideration in control issues is control of nonlinear systems. Sliding control is among those nonlinear controllers that can control the system desirably in the presence of unstructured uncertainties of carelessness in specifying parameters of the system. In sliding control, also called Variable Structure Control, the main objectives of the controller 
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ژورنال
عنوان ژورنال: Modeling, Identification and Control: A Norwegian Research Bulletin
سال: 2016
ISSN: 0332-7353,1890-1328
DOI: 10.4173/mic.2016.3.4