Robust Model Predictive Control With Integral Sliding Mode in Continuous-Time Sampled-Data Nonlinear Systems
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This paper proposes a control strategy for nonlinear constrained continuous-time uncertain systems which combines robust model predictive control (MPC) with sliding mode control (SMC). In particular, the so-called Integral SMC approach is used to produce a control action aimed to reduce the difference between the nominal predicted dynamics of the closed-loop system and the actual one. In this way, the MPC strategy can be designed on a system with a reduced uncertainty. In order to prove the stability of the overall control scheme, some general regional input-to-state practical stability results for continuous-time systems are proved.
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Other robust MPC schemes including min-max optimization and sliding mode techniques improve robustness without significant increase of complexities.
“Other robust MPC schemes, including min-max optimization [25], [26] and sliding mode techniques [27], [28], are also employed to improve robustness without significant increase of complexities.”
From Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator (2022) · cites this paper as [27]
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Incremental Model Predictive Control Exploiting Time-Delay Estimation for a Robot Manipulator
Wang, Y., Leibold, M., Lee, J., Ye, W., Xie, J., & Buss, M. (2022) · IEEE Transactions on Control Systems Technology · doi:10.1109/tcst.2022.3142629 · Cited by 52 · see citing works
- Authors
- Rubagotti, M., Raimondo, D. M., Ferrara, A., & Magni, L.
- Affiliations
- University of Trento (IT)
- ETH Zurich (CH)
- University of Pavia (IT)
- Venue
- IEEE Transactions on Automatic Control
- Published
- 2011-03
- Volume
- 56
- Issue
- 3
- Pages
- 556-570
- ISSN
- 0018-9286 (ISSN-L)
- OpenAlex
- W2135688580
- Cited by
- 196
- References
- 44
- Citations by year
- 2026: 10 · 2025: 17 · 2024: 6 · 2023: 16 · 2022: 14 · 2021: 21 · 2020: 18 · 2019: 11 · 2018: 17 · 2017: 14 · 2016: 14 · 2015: 11 · 2014: 10 · 2013: 6 · 2012: 5
- FWCI
- 9.02
- Type
- journal article
- Language
- en
- Open access
- Locations
- IEEE Transactions on Automatic Control (publishedVersion)
- ArTS Archivio della ricerca di Trieste (University of Trieste https://www.units.it/) (submittedVersion)
- INFM-OAR (INFN Catania) (submittedVersion, other-oa)
- Zenodo (CERN European Organization for Nuclear Research) (submittedVersion, other-oa)
- Funders
- European Commission (FP7 ICT, 223866)
- Università degli Studi di Pavia
- FP7 Information and Communication Technologies
- Topics
- Physical Sciences › Engineering › Control and Systems Engineering › Advanced Control Systems Optimization
- Physical Sciences › Engineering › Control and Systems Engineering › Stability and Control of Uncertain Systems
- Physical Sciences › Engineering › Control and Systems Engineering › Adaptive Control of Nonlinear Systems
- Keywords
- robust model predictive control, integral sliding mode control, sampled-data systems, continuous-time nonlinear systems, constrained systems, uncertain systems, input-to-state practical stability, regional stability, model uncertainty reduction
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