Quasi-SMC based on MPC for a constrained continuous-time nonlinear system with external disturbances

TL;DR

This paper introduces a quasi-sliding mode control method based on model predictive control for constrained nonlinear systems with external disturbances, enhancing convergence and constraint satisfaction.

Contribution

It formulates an MPC-based QSMC design that imitates traditional QSMC while ensuring constraints and improved convergence through cost function tuning.

Findings

Effective constraint handling demonstrated in simulations

Enhanced convergence rate with parameter tuning

Control approach robust to external disturbances

Abstract

In this article, a quasi-sliding mode control (QSMC) based on MPC is proposed for the constrained continuous-time nonlinear system with external disturbances. The MPC problem is formulated relating to the design of QSMC, to generate the control input, which can imitate the control process of QSMC and guarantee the satisfaction of state and input constraints. Meanwhile, the cost function of MPC problem is reconstructed, in which the QSMC based on MPC can show better convergence rate by tuning the weight parameters. Finally, a simulation case is provided to demonstate the effectiveness of the proposed approach.