Robust nonlinear model predictive sliding mode control algorithm for saturated uncertain multivariable mechanical systems. (April 2023)

• Record Type: Journal Article
• Authors: Homaeinezhad, Mohammad Reza; FotoohiNia, Farhad
• Is Part Of: Journal of vibration and control. Volume 29:Number 7/8(2023)
• Page Start: 1524
• Page End: 1538
• Publication Date: 2023-04
• Subjects: nonlinear model predictive control -- decision variable decoupling -- multivariable vibrational control system -- actuation saturation -- uncertainty-robust feasibility; Vibration -- Periodicals; Damping (Mechanics) -- Periodicals; 620.3
• DOI: 10.1177/10775463211065883
• Languages: English
• ISSNs: 1077-5463

Abstract

In this paper, robust stabilization and predictive tracking control for a class of nonlinear uncertain multivariable systems is presented. The control scheme is built by incorporating nonlinear model predictive control in discrete sliding mode control to obtain optimal results while satisfying hard constraints and closed-loop robustness in the presence of external disturbance (matched or unmatched) and parametric uncertainty. Additionally, the control input domain limitation is involved in construction of the model predictive control scheme by employing sliding functions admissible bounds. The problem of cost minimization is solved through optimal selection of terminal cost gain and allocation of system dynamics with respect to sliding surfaces while robust stabilization and feasibility are ensured through the prediction horizon.