The paper proposes a novel strucuture of composite control consisting of sliding mode control (SMC) and model predictive control (MPC) for a constrained second-order nonlinear system with external disturbances. Based on linear sliding mode surface, the control law is first generated by MPC problem to drive the system state to a certain region, and then is switched to SMC which can promise the input-to state stable (ISS). The recursive feasibility of MPC and closed-loop stability is guaranteed, while the whole process behaves robustness and constraints satisfaction. Finally, a simulation case is provided to demonstate the effectiveness of the composite control.

翻译：本文提出了一种新型的复合控制结构,包括滑动模式控制(SMC)和模型预测控制(MPC),用于受限制的二级非线性非线性系统以及外部扰动。基于线性滑动模式表面,控制法首先由多管电动控制器问题产生,将系统状态推向某个区域,然后转而由SMC来保证输入到状态稳定(ISS ) 。 MPC和闭环稳定性的再现可行性得到保障,而整个过程则保持稳健和制约性满意度。 最后,提供了模拟案例,说明复合控制的有效性。