Tube Model Predictive Control with an Auxiliary Sliding Mode Controller

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...

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Bibliographic Details
Main Authors: Miodrag Spasic, Morten Hovd, Darko Mitic, Dragan Antic
Format: Article
Language:English
Published: Norwegian Society of Automatic Control 2016-07-01
Series:Modeling, Identification and Control
Subjects:
Model Predictive Control
robustness
Sliding Mode Control
Mixed Integer Linear Program
Online Access:http://www.mic-journal.no/PDF/2016/MIC-2016-3-4.pdf
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spelling doaj-71bc7ad2a7dd46b6ae9e84e31c3e17e12020-11-24T20:41:22ZengNorwegian Society of Automatic ControlModeling, Identification and Control0332-73531890-13282016-07-0137318119310.4173/mic.2016.3.4Tube Model Predictive Control with an Auxiliary Sliding Mode ControllerMiodrag SpasicMorten HovdDarko MiticDragan AnticThis 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 constraint fulfillment. The analysis avoids the assumption of infinitely fast switching in the SMC controller.http://www.mic-journal.no/PDF/2016/MIC-2016-3-4.pdfModel Predictive ControlrobustnessSliding Mode ControlMixed Integer Linear Program
collection DOAJ
language English
format Article
sources DOAJ
author Miodrag Spasic
Morten Hovd
Darko Mitic
Dragan Antic
spellingShingle Miodrag Spasic
Morten Hovd
Darko Mitic
Dragan Antic
Tube Model Predictive Control with an Auxiliary Sliding Mode Controller
Modeling, Identification and Control
Model Predictive Control
robustness
Sliding Mode Control
Mixed Integer Linear Program
author_facet Miodrag Spasic
Morten Hovd
Darko Mitic
Dragan Antic
author_sort Miodrag Spasic
title Tube Model Predictive Control with an Auxiliary Sliding Mode Controller
title_short Tube Model Predictive Control with an Auxiliary Sliding Mode Controller
title_full Tube Model Predictive Control with an Auxiliary Sliding Mode Controller
title_fullStr Tube Model Predictive Control with an Auxiliary Sliding Mode Controller
title_full_unstemmed Tube Model Predictive Control with an Auxiliary Sliding Mode Controller
title_sort tube model predictive control with an auxiliary sliding mode controller
publisher Norwegian Society of Automatic Control
series Modeling, Identification and Control
issn 0332-7353
1890-1328
publishDate 2016-07-01
description 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 constraint fulfillment. The analysis avoids the assumption of infinitely fast switching in the SMC controller.
topic Model Predictive Control
robustness
Sliding Mode Control
Mixed Integer Linear Program
url http://www.mic-journal.no/PDF/2016/MIC-2016-3-4.pdf
work_keys_str_mv AT miodragspasic tubemodelpredictivecontrolwithanauxiliaryslidingmodecontroller
AT mortenhovd tubemodelpredictivecontrolwithanauxiliaryslidingmodecontroller
AT darkomitic tubemodelpredictivecontrolwithanauxiliaryslidingmodecontroller
AT draganantic tubemodelpredictivecontrolwithanauxiliaryslidingmodecontroller
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