Robust Receding Horizon Control for Hybrid Systems based on Constrained Positively Invariant Sets

Abstract

This paper presents a robust receding horizon control algorithm for a class of hybrid systems by exploiting the equivalence between piecewise linear systems and mixed logical dynamical systems. The control algorithm consists of two control modes which are a state feedback mode and a receding horizon control mode. In the receding horizon control mode, the constrained positively invariant sets are used as terminal constraint. This control algorithm guarantees that the state converges to a union of constrained positively invariant sets with no constraint violation. A simple example is presented to show that the control algorithm satisfies the stability and constraints.