APPROXIMATE MIN-MAX MPC FOR LINEAR HYBRID SYSTEMS

• Published in: IFAC Proceedings Volumes Vol. 38; no. 1; pp. 622 - 627
• Main Authors: Botto, M. Ayala, Silva, M., Costa, J. Sá da
• Format: Journal Article
• Language: English
• Published: 2005
• Subjects: hybrid systems; min-max optimization; mixed logical dynamical systems; model predictive control control; robust control; min-max optimization; model predictive control control; robust control; hybrid systems; mixed logical dynamical systems
• ISSN: 1474-6670
• DOI: 10.3182/20050703-6-CZ-1902.00504

This paper presents a Receding Horizon Control (RHC) strategy to robustly control linear hybrid systems subject to bounded additive disturbances. First, the open-loop finite horizon min-max optimal control problem associated with the RHC strategy is presented, defining a mixed-integer optimization problem. The goal of the min-max formulation is to minimize the worst-case cost of the performance index, while guaranteeing performance/safety constraints for all possible disturbance realizations. Then it will be proved that feasibility at the initial time as well as convexity arguments and set-invariance assumptions are sufficient conditions to guarantee robust stability and performance of the closed-loop system. Simulation results for a perturbed hybrid system will demonstrate the potential of the proposed robust optimal control design.