Robust predictive control design for uncertain discrete switched affine systems subject to an input delay

TL;DR

This paper develops a robust predictive control method for uncertain discrete switched affine systems with input delays, ensuring stability and convergence through Lyapunov-based analysis and a prediction scheme.

Contribution

It introduces a novel Lyapunov-based robust control design that accounts for input delays and uncertainties in switched affine systems.

Findings

System trajectories converge exponentially to a robust limit cycle.

The control law guarantees stability despite uncertainties and delays.

Validation through a numerical example confirms effectiveness.

Abstract

Robust stabilization conditions for uncertain switched affine systems subject to a unitary input delay are presented. They are obtained through the Lyapunov framework and a min-switching state-feedback predictive control law. The result relies on a prediction scheme considering nominal system parameters. By constructing a Lyapunov function that considers the prediction error, we demonstrate the exponential convergence of the system trajectories and system prediction to a robust limit cycle. An example is provided to validate the obtained result.