Switching Model Predictive Control With Actuator Saturation And Average Dwell Time

In this paper, for discrete-time switched systems with uncertainty, we study its saturation model predictive control (SMPC) under the average dwell time switching rule. Firstly, a factor greater than 1 is introduced in the differential operation of the Lyapunov function, allowing it to increase at the switching instant, thereby increasing the design freedom to adjust the average dwell time, that is, the switching frequency; Introducing auxiliary matrix and convex combination technology to transform actuator saturation constraints into constraints on the system state; Obtain the SMPC design method under the double constraints of average dwell time and state space. Secondly, an appropriate switching invariant ellipsoid is constructed to obtain a feasible solution for the SMPC control gain. SMPC combined with the average dwell time constraint can ensure the feasibility of the sufficiency condition for solving the control gain, the robustness and stability of the closed-loop switched system.