MODEL PREDICTIVE SLIDING MODE CONTROL - FOR CONSTRAINT SATISFACTION AND ROBUSTNESS

Yizhou Wang; Wenjie Chen; Masayoshi Tomizuka; Badr N. Alsuwaidan; ASME

doi:10.1115/DSSC2013-4067

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MODEL PREDICTIVE SLIDING MODE CONTROL - FOR CONSTRAINT SATISFACTION AND ROBUSTNESS

Yizhou Wang, Wenjie Chen, Masayoshi Tomizuka, Badr N. Alsuwaidan and ASME

ASME 2013 DYNAMIC SYSTEMS AND CONTROL CONFERENCE, VOL. 3

01/01/2013

DOI: https://doi.org/10.1115/DSSC2013-4067

Abstract

Automation & Control Systems

Engineering

Engineering, Mechanical

Science & Technology

Technology

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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Title: MODEL PREDICTIVE SLIDING MODE CONTROL - FOR CONSTRAINT SATISFACTION AND ROBUSTNESS
Creators - without role: Yizhou Wang - Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94720 USA
Wenjie Chen - Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94720 USA
Masayoshi Tomizuka - Univ Calif Berkeley, Dept Mech Engn, Berkeley, CA 94720 USA
Badr N. Alsuwaidan - King Abdulaziz City Sci & Technol, Natl Satellite Technol Program, Riyadh 11555, Saudi Arabia
ASME
Publication Details: ASME 2013 DYNAMIC SYSTEMS AND CONTROL CONFERENCE, VOL. 3
Publisher: Amer Soc Mechanical Engineers
Number of pages: 10
Grant note: King Abdulaziz City for Science and Technology (KACST)
Identifiers: 9918613108331
Academic Unit: King Abdulaziz City for Science & Technology
Language: English
Resource Type: Conference proceeding