Brief paper: Improving performance in model predictive control: Switching cost functionals under average dwell-time

摘要: In this paper, we propose a novel switched model predictive control (MPC) algorithm for nonlinear continuous-time systems, where switch between different cost functionals in order to enhance performance. Thus, performance criteria can be taken into account. ensure stability of the resulting closed-loop system, consider switching signals which exhibit certain average dwell-time. When considering type, assumptions are common systems literature stability, like matching condition Lyapunov functions and possibility find with an exponential decay rate. show how these satisfied MPC context thus proposed established.