Model Predictive Sliding Mode Control: For Constraint Satisfaction and Robustness

A novel combination of model predictive control (MPC) and sliding mode control (SMC) is presented in this paper. The motivation is to inherit the ability to explicitly deal with state and input constraints from MPC, and the good robustness property from SMC. The design of the finite-time optimal control problem and the conditions for the persistent feasibility and the closed-loop stability are discussed. Simulation results are shown to demonstrate the nominal and robust performance of the proposed control algorithm.