Sliding Mode Control using Robust Model Predictive Control in Reaching Mode for Lateral Movement System

Abstract

In this paper, to improve sliding mode control, revised controller is proposed. A method of robust model predictive control is employed to improve performance in reaching mode. To apply robust model predictive control, Uncertain discrete time systems can be transformed to polytopic uncertain system. Consequently, the employed robust model predictive control is minimizing the upper bound of the cost function with infinite horizon for uncertain polytopic system. To show effectiveness, the method is applied to lateral motion of a hot strip. The strong point of the proposed method is optimization of the cost function. As a result, the convergence rate to sliding surface is improved in reaching mode. Moreover, input constraint can be considered. A numerical example in lateral movement system illustrates the effectiveness of the proposed method by comparing it with existing methods.