Model Predictive Control Based Switching of Multimodal Controllers in Switched Systems

Abstract

In real systems, there exist physical constraints such as voltage limitations imposed on actuators or state restriction due to their structure. Vilotation constraints in systems may cause instability, or in the worst case, result in malfunction. In this paper, a switching algorithm of multimodal controllers in switched systems is proposed. The method is based on the model predictive control. Both simulation and experimental results illustrate the effectiveness of the proposed method.