Constrained Predictive Control for Nonlinear Switched Systems with Uncertainty
具有不确定性的非线性切换系统的约束预测控制

In this paper,a Lyapunov-based constrained predictive controller is proposed for a kind of nonlinear switched systems with uncertainty and constraints for the cases that the state constraints need to be enforced at all times(hard constraints)and they can be relaxed for some time(soft constraints).The main idea is to design a Lyapunov-based limited controller and a predictive controller for each subsystem,also a suitable switched law to stablize the closed-loop subsystem,and provide an explicitly characterized set of initial conditions.For the whole switched system,a suitable switched law is designed to ensure:1)the state of the closed-loop system,at the time of the transition,resides in the stability region of the mode that the system is switched into;2)the Lyaptmov function for each mode is nonincreasing wherever the mode is reactivated,thereby guaranteeing the stability.For the case where the state constraints are soft, we propose a control strategy for each subsystem such that the state is driven into the stabilization region,then the closed-loop system is stablized by the controller defined in the stabilization region.