Robust nonlinear generalised predictive control for a class of uncertain nonlinear systems via an integral sliding mode approach

Rachid Errouissi, Jun Yang, Wen Hua Chen, Ahmed Al-Durra

Research output: Contribution to journalArticlepeer-review

18 Citations (Scopus)

Abstract

ABSTRACT: In this paper, a robust nonlinear generalised predictive control (GPC) method is proposed by combining an integral sliding mode approach. The composite controller can guarantee zero steady-state error for a class of uncertain nonlinear systems in the presence of both matched and unmatched disturbances. Indeed, it is well known that the traditional GPC based on Taylor series expansion cannot completely reject unknown disturbance and achieve offset-free tracking performance. To deal with this problem, the existing approaches are enhanced by avoiding the use of the disturbance observer and modifying the gain function of the nonlinear integral sliding surface. This modified strategy appears to be more capable of achieving both the disturbance rejection and the nominal prescribed specifications for matched disturbance. Simulation results demonstrate the effectiveness of the proposed approach.

Original languageEnglish
Pages (from-to)1698-1710
Number of pages13
JournalInternational Journal of Control
Volume89
Issue number8
DOIs
Publication statusPublished - Aug 2 2016
Externally publishedYes

Keywords

  • Disturbance rejection
  • integral sliding mode control (ISMC)
  • nonlinear generalised predictive control (NGPC)
  • robustness
  • unmatched disturbance

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications

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