Tube Model Predictive Control with an Auxiliary Sliding Mode Controller
This paper studies Tube Model Predictive Control (MPC) with a Sliding Mode Controller (SMC) as an auxiliary controller. It is shown how to calculate the tube widths under SMC control, and thus how much the constraints of the nominal MPC have to be tightened in order to achieve robust stability and c...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Norwegian Society of Automatic Control
2016-07-01
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| Series: | Modeling, Identification and Control |
| Subjects: | |
| Online Access: | http://www.mic-journal.no/PDF/2016/MIC-2016-3-4.pdf |