Self-triggered model predictive control for switched systems with dwell time constraints

This paper proposes a new self-triggered model predictive control (MPC) strategy for switched systems under dwell time (DT) constraints. The strategy combines the advantages of self-triggering mechanism and switching control, thereby having a good performance in saving computing resources and adapting to complex engineering practices. To guarantee the feasibility of the switched MPC strategy under the self-triggering framework, the concept of feasible truncated admissible switching sequence (f-TAS) is proposed to solve the constraint violation problem caused by the switching behavior and guarantee the flexible index. Besides, the self-triggering mechanism is developed to overcome the divergence of the Lyapunov function by using the self-triggered relaxation, thus ensuring the sub-optimal performance. Simulation example shows that the algorithm effectively saves the computing resources while ensuring the feasibility and sub-optimal performance.