Design of a robust model predictive control for nonlinear switched systems: A low‐conservative and recursive feasibility strategy

Abstract

AbstractThis article proposes a robust H∞ based model predictive control scheme for Lipschitz nonlinear switched systems with persistent dwell time. In the developed method, the constraints corresponding to the recursive feasibility are included and the recursive feasibility is guaranteed. In this scheme, the existence of unstabilizable sub‐systems and exogenous disturbances are included which makes it possible to avoid considering an ideal and simplistic assumption about switched systems. By simultaneously designing the controller and the switching signal and using multiple Lyapunov functions, the unacceptable conservatism in methods involving common Lyapunov functions and arbitrary switching signals is avoided. In the proposed solution, a time‐varying prediction horizon is used for finite horizon cost functions, which in turn will be effective in reducing conservatism. In the suggested design strategy, the non‐convex control scheme is formulated as an optimization problem in the framework of linear matrix inequality. Finally, a numerical example is developed and the performance of the proposed scheme is evaluated.