SMC and MPC based composite control for a constrained second-order nonlinear system with external disturbances

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.