A New Sliding-mode Model Predictive Controller for Output Tracking of Nonlinear Systems with Online Optimization.
- Department of Mechatronics Engineering, Bursa Technical University, Bursa, TURKEY *formerly with Department of Mechanical Engineering, Villanova University, PA, 19085, USA.
- Department of Mechanical Engineering, Villanova University, PA, 19085, USA.
- Department of Mechatronics Engineering, Erciyes University, Kayseri, TURKEY.
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Abstract
A model predictive control method for nonlinear systems is presented resulting from a new sliding manifold definition. The sliding-mode control with new manifold drives dynamics of a given nonlinear system to a stable sliding surface faster compared to standard counterparts. The new manifold definition is further exploited for a straightforward derivation of discrete-time predictive controller with on-line optimization in dynamics of both deterministic and stochastic components. Simulation results for a second-order nonlinear system show that new predictive controller leads to more successful tracking of a given target trajectory compared to conventional sliding-mode controller for the system studied with suitably determined real-time operational conditions such as time and control update terms
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How to Cite This Article
Turgay Temel, Hashem Ashrafiuon, Chandrasekhar Nataraj, Sahin Yildirim (2015); A New Sliding-mode Model Predictive Controller for Output Tracking of Nonlinear Systems with Online Optimization., Int. J. of Adv. Res., 3 (09), 660-664, ISSN 2320-5407.
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