MODEL PREDICTIVE SLIDING MODE CONTROL - FOR CONSTRAINT SATISFACTION AND ROBUSTNESS

被引：0
|
作者：
Wang, Yizhou [1 ]
Chen, Wenjie [1 ]
Tomizuka, Masayoshi [1 ]
Alsuwaidan, Badr N. [2 ]
机构：
[1] Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94720 USA
[2] King Abdulaziz City Sci & Technol, Natl Satellite Technol Program, Riyadh 11555, Saudi Arabia
来源：
ASME 2013 DYNAMIC SYSTEMS AND CONTROL CONFERENCE, VOL. 3 | 2013年
关键词：
VARIABLE-STRUCTURE CONTROL; SYSTEMS;
D O I：
10.1115/DSSC2013-4067
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A novel combination of model predictive control (MPC) and sliding mode control (SMC) is presented in this paper The motivation is to inherit the ability to explicitly deal with state and input constraints from MPC, and the good robustness property from SMC The design of the finite-time optimal control problem and the conditions for the persistent feasibility and the closed-loop stability are discussed. Simulation results are shown to demonstrate the nominal and robust performance of the proposed control algorithm.
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页数：10
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