Tube model predictive control based on Laguerre functions with an auxiliary sliding mode controller

Abstract

This paper deals with Tube Model Predictive Control (MPC) based on Laguerre functions with a Sliding Mode Controller (SMC) as an auxiliary controller. Two types of SMC are implemented: the traditional one and the robust chattering-free discrete-time SMC. It is shown how much the constraints of the nominal Laguerre functions based MPC have to be tightened in order to achieve robust stability and control constraints fulfilment. The proposed approach is verified by experimental results.