Robust Output Tracking of Constrained Perturbed Linear Systems via Model Predictive Sliding Mode Control

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Abstract

A robustifying strategy for constrained linear multivariable systems is proposed. A combination of tracking model predictive control with output integral sliding mode techniques is used to completely reject bounded matched perturbations. It can be guaranteed that all constraints on inputs, states and outputs are satisfied although only output information is used. Finally, real-world experiments with an unstable plant are presented in order to demonstrate the validity and the effectiveness of the proposed approach.
Original languageEnglish
Pages (from-to)1258– 1274
Number of pages17
JournalInternational journal of robust and nonlinear control
Issue number30
DOIs
Publication statusPublished - 2020

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Multivariable systems
Model predictive control
Sliding mode control
Linear systems
Experiments

Keywords

  • sliding mode control
  • output integral sliding mode
  • linear model predictive control
  • output tracking

Cite this

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title = "Robust Output Tracking of Constrained Perturbed Linear Systems via Model Predictive Sliding Mode Control",
abstract = "A robustifying strategy for constrained linear multivariable systems is proposed. A combination of tracking model predictive control with output integral sliding mode techniques is used to completely reject bounded matched perturbations. It can be guaranteed that all constraints on inputs, states and outputs are satisfied although only output information is used. Finally, real-world experiments with an unstable plant are presented in order to demonstrate the validity and the effectiveness of the proposed approach.",
keywords = "sliding mode control, output integral sliding mode, linear model predictive control, output tracking, sliding mode control, output integral sliding mode, linear model predictive control, output tracking",
author = "Martin Steinberger and {Castillo Lopez}, {Alberto Ismael} and Martin Horn and Leonid Fridman",
year = "2020",
doi = "10.1002/rnc.4826",
language = "English",
pages = "1258– 1274",
journal = "International journal of robust and nonlinear control",
issn = "1049-8923",
publisher = "John Wiley and Sons Ltd",
number = "30",

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AU - Horn, Martin

AU - Fridman, Leonid

PY - 2020

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AB - A robustifying strategy for constrained linear multivariable systems is proposed. A combination of tracking model predictive control with output integral sliding mode techniques is used to completely reject bounded matched perturbations. It can be guaranteed that all constraints on inputs, states and outputs are satisfied although only output information is used. Finally, real-world experiments with an unstable plant are presented in order to demonstrate the validity and the effectiveness of the proposed approach.

KW - sliding mode control

KW - output integral sliding mode

KW - linear model predictive control

KW - output tracking

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KW - output integral sliding mode

KW - linear model predictive control

KW - output tracking

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