A contractive sliding-mode MPC algorithm for nonlinear discrete-time systems

Authors:
Meng Zhao;Bao-Cang Ding
Affiliations:
College of Automation, Chongqing University, Chongqing, China 400044;College of Automation, Chongqing University, Chongqing, China 400044
Venue:
International Journal of Automation and Computing
Year:
2013

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Abstract

This paper investigates a sliding-mode model predictive control (MPC) algorithm with auxiliary contractive sliding vector constraint for constrained nonlinear discrete-time systems. By adding contractive constraint into the optimization problem in regular sliding-mode MPC algorithm, the value of the sliding vector is decreased to zero asymptotically, which means that the system state is driven into a vicinity of sliding surface with a certain width. Then, the system state moves along the sliding surface to the equilibrium point within the vicinity. By applying the proposed algorithm, the stability of the closed-loop system is guaranteed. A numerical example of a continuous stirred tank reactor (CSTR) system is given to verify the feasibility and effectiveness of the proposed method.