Approximate MLD System Model of Switched Linear Systems for Model Predictive Control

Robust Model Predictive Control for Switched Piecewise Linear Hybrid Systems

This paper investigates the robust tracking and regulation control problems for discrete-time, switched piecewise linear hybrid systems affected by parameter variations. In particular, the main question addressed is related to the existence of a controller such that the closedloop system exhibits an attainable desired behavior under all possible parameter variation. Checking attainability and c...

Model Based Predictive Control for Linear Systems

Switched Linear Multi-Robot Navigation Using Hierarchical Model Predictive Control

Multi-robot navigation control in the absence of reference trajectory is rather challenging as it is expected to ensure stability and feasibility while still offer fast computation on control decisions. The intrinsic high complexity of switched linear dynamical robots makes the problem even more challenging. In this paper, we propose a novel HMPC based method to address the navigation problem o...

Approximate Model Predictive Control for Nonlinear Multivariable Systems

The control of multi-input multi-output (MIMO) systems is a common problem in practical control scenarios. However in the last two decades, of the advanced control schemes, only linear model predictive control (MPC) was widely used in industrial process control (Maciejowski, 2002). The fundamental common idea behind all MPC techniques is to rely on predictions of a plant model to compute the op...

Economic model predictive control of switched nonlinear systems

We focus on the development of a Lyapunov-based economic model predictive control (LEMPC) method for a class of switched nonlinear systems for which the mode transitions take place according to a prescribed switching schedule. In contrast to steady-state operation of conventional model predictive control (MPC) methods which use a quadratic objective function in their formulations, LEMPC utilize...