Scenario-Based Nonlinear Model Predictive Control for Switched Systems with Externally Forced Switchings

Abstract

In this work, we present nonlinear model predictive control for switched systems with externally forced switchings, in which a continuous control input and binary switching signal are optimized simultaneously. We introduce a scenario tree that represents the combination of active subsystems on the predictive horizon. We propose a computation strategy using the continuous characteristic of a solution to the optimal control problem for each scenario. We present a numerical experiment of an application of the proposed method to a nonlinear switched system with externally forced switchings and demonstrate its effectiveness.