Robust Nonlinear Model Predictive Control With Model Predictive Sliding Mode for Continuous-Time Systems

Abstract This paper presents a robust, tube-based nonlinear model predictive controller for continuous-time systems with additive disturbances which cascades two sampled-data model predictive controllers: the first creates a desired path using nominal dynamics, and the second maintains the true state close to the nominal state by regulating a sliding variable designed on the error between the true and nominal states. The …