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

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.