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Model Predictive Control of Hybrid Dynamical Systems
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DOI：10.1109/tac.2026.3674015.png)
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Abstract
En 中文
The problem of controlling hybrid dynamical systems using model predictive control (MPC) is formulated, and sufficient conditions for asymptotic stability of a set are provided. Hybrid dynamical systems are modeled in terms of hybrid equations, involving a differential equation and a difference equation with inputs and constraints. The proposed hybrid MPC algorithm uses a suitable prediction and control horizon construction inspired by hybrid time domains. Structural properties of the hybrid optimization problem, its feasible set, and its value function are provided. Checkable conditions to guarantee asymptotic stability of a set are provided. These conditions are given in terms of properties on the stage cost, terminal cost, and the existence of static state-feedback laws, related through a control Lyapunov function condition. Examples illustrate the results throughout this article.
Keywords:
Hybrid dynamical systems
model predictive control
nonlinear control systems
predictive control
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7
Papers:
1.3W
Citations:
6.7W
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