Model Predictive Control for Hybrid Dynamical Systems
A new paper formulates model predictive control (MPC) for hybrid dynamical systems, modeled by differential and difference equations with inputs and constraints. The algorithm uses a prediction and control horizon inspired by hybrid time domains. Sufficient conditions for asymptotic stability of a set are provided, based on stage cost, terminal cost, and static state-feedback laws via a control Lyapunov function. Examples illustrate the results.
Key facts
- The paper addresses MPC for hybrid dynamical systems.
- Hybrid systems are modeled with differential and difference equations.
- The MPC algorithm uses a hybrid time domain structure.
- Sufficient conditions for asymptotic stability are given.
- Conditions involve stage cost, terminal cost, and control Lyapunov functions.
- Examples are provided throughout the paper.
- The paper is in Mathematics > Optimization and Control.
- Submitted to arXiv on April 2025.
Entities
Institutions
- arXiv