This article proposes a robust H∞ based model predictive control scheme for Lipschitz nonlinear switched systems with persistent dwell time. In the developed method, the constraints corresponding to the recursive feasibility are included and the recursive feasibility is guaranteed. In this scheme, the existence of unstabilizable sub-systems and exogenous disturbances are included which makes it possible to avoid considering an ideal and simplistic assumption about switched systems. By simultaneously designing the controller and the switching signal and using multiple Lyapunov functions, the unacceptable conservatism in methods involving common Lyapunov functions and arbitrary switching signals is avoided. In the proposed solution, a time-varying prediction horizon is used for finite horizon cost functions, which in turn will be effective in reducing conservatism. In the suggested design strategy, the non-convex control scheme is formulated as an optimization problem in the framework of linear matrix inequality. Finally, a numerical example is developed and the performance of the proposed scheme is evaluated.

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This paper proposes an asynchronous robust H∞ model predictive control scheme for discretetime Lipschitz nonlinear switched systems. It is assumed that there exist some mismatches between the switching of the subsystems and the controllers. For this purpose, two different types of cost functions have to be minimized, including the cost function with the finite horizon in the mismatched intervals and with the infinite horizon in the matched intervals. The control scheme is developed based on the multiple Lyapunov functions and persistent dwell time switching signal to ensure the H∞ performance. Therefore, conservative aspects of the other model predictive methods developed based on the common Lyapunov function and arbitrary switching signals are treated. Due to the online framework of the suggested strategy, fewer constraints have to be resolved simultaneously. So, there will be fewer feasibility problems and unexpected variations issues compared to offline methods, which are widely used in the literature of switched systems. The non-convex control scheme is formulated as an optimization problem in the framework of linear matrix inequality, as well as the optimal values of some parameters are obtained. Finally, a numerical example is developed, and the performance of the proposed scheme is evaluated.

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