Constraint Enforcement via Tube-Based MPC Exploiting Switching Restrictions

Journal Article (Journal Article)

Dwell-time restrictions are critical to overcoming infeasibility caused by arbitrary switches in constrained time-dependent switched systems, especially when the system equilibrium is mode dependent. However, existing approaches to enforce constraints are not applicable in presence of disturbances. In this letter, a recursively feasible switched tube-based MPC (TMPC) is designed for constrained linear modes subject to polytopic-bounded additive disturbances. Control-invariant sets that are robust to mode switches and disturbances are proposed to select terminal constraints and identify feasible initial states. The method is distinguished by the admission of mode-dependent equilibria, user-specified prediction horizons, non-reliance on a preview of the switching signal, and online computations equal to that of a non-switched TMPC.

Full Text

Duke Authors

Cited Authors

  • Lavaei, R; Hall, R; Danielson, C; Bridgeman, L

Published Date

  • November 1, 2021

Published In

Volume / Issue

  • 5 / 5

Start / End Page

  • 1789 - 1794

Electronic International Standard Serial Number (EISSN)

  • 2475-1456

Digital Object Identifier (DOI)

  • 10.1109/LCSYS.2020.3045391

Citation Source

  • Scopus