Journal
IEEE TRANSACTIONS ON AUTOMATIC CONTROL
Volume 66, Issue 8, Pages 3802-3809Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TAC.2020.3024349
Keywords
Convergence; Linear systems; Robustness; Manifolds; Predictive control; Nonlinear dynamical systems; Constrained control; nonlinear predictive control; sliding mode control; uncertain systems
Funding
- Nazarbayev University under Faculty Development Competitive Research Grant [240919FD3915]
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This article proposes a discrete-time sliding mode control law for nonlinear systems, with mixed input-state constraints and additive bounded disturbances. The control law is formulated by solving a nonlinear predictive control problem to generate a control input that mimics an unconstrained discrete-time sliding mode law. The resulting control law satisfies input and state constraints, while also exhibiting all properties of discrete-time sliding mode, including finite time convergence of the state onto the sliding manifold in the nominal case or within a predefined boundary layer in the presence of bounded disturbances.
In this article, a discrete-time sliding mode control law is proposed for nonlinear (possibly multiinput) systems, in the presence of mixed input-state constraints and additive bounded disturbances. The control law is defined by formulating a nonlinear predictive control problem aimed at generating a control input that imitates an unconstrained discrete-time sliding mode law. In addition to satisfying input and state constraints, the resulting control law has all the properties of discrete-time sliding mode, and in particular, finite time convergence of the state onto the sliding manifold in the nominal case, or into an a-priori defined boundary layer of the sliding manifold in case bounded disturbances are present.
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