Model predictive control for asynchronously switched linear systems with mode-dependent dwell time

This paper presents a model predictive control (MPC) approach for a class of asynchronously switched linear systems with mode-dependent dwell time (MDT). Asynchronous switching which refers to the mismatch between system modes and desired mode-dependent controllers may result in infeasibility of the conventional switched MPC design or even make the closed-loop system unstable. To handle this problem, the concept of stage MDT is employed and its minimum admissible value is determined offline so as to ensure the reachable set of a starting region is included in a target region. Then, we compute a constraint admissible contractive asynchronous switching MDT invariant (AMI) set as the common terminal constraints for all the switching modes and find out an important property: The existence of such an AMI set is equivalent to the asymptotic stability of the asynchronously switched closed-loop system. By letting the reachable set be contained in the AMI set, we present two criteria to determine the minimum admissible stage MDT offline such that the closed-loop system is asymptotically stable. Finally, a numerical example is given to verify the theoretical results. (c) 2024 Published by Elsevier Ltd.