Switching Model Predictive Control of Switched Linear Systems with Average Dwell Time

Document Type

Conference Proceeding

Date of Original Version



In this paper, we address the switching model predictive control (sMPC) problem for a class of switched linear systems with average dwell time (ADT) switching logics. A novel state-feedback switching control synthesis scheme is proposed, such that (i) the sMPC design, subject to ADT switching as well as input and output constraints, can be characterized as an optimization problem of the "worst-case" objective function over infinite moving horizon; (ii) the associated optimal switching control synthesis conditions can be fully formulated as linear matrix inequalities (LMIs), which can be solved efficiently via online convex optimization; and (iii) asymptotic stability of the resulting switched closed-loop system can be proved rigorously using multiple Lyapunov functions. A numerical example has been used to demonstrate effectiveness of the proposed approach.

Publication Title

Proceedings of the American Control Conference