Model Predictive Sliding Mode Control for a Class of Affine Nonlinear Systems

Abstract

In this paper, a nonlinear robust control technique is proposed for a class of affine nonlinear systems. This technique tries to increase tracking control performance by combining the benefits of sliding mode control (SMC) with model predictive control (MPC), for a class of nonlinear systems, in terms of smooth control law, a zero steady-state error, a faster convergence rate, and more robustness for the closed-loop system against external disturbances and model uncertainties. Furthermore, this paper provides a comparative study with the previously mentioned control methods. The controllers SMC and Model Predictive Sliding Mode Control (MPSMC) have been tested in simulation under Matlab/Simulink environment. Simulations are carried out on a nonlinear affine benchmark to evaluate the suggested technique and demonstrate its efficacy in achieving the required control performances.