Model Predictive Control of Switched Piecewise-Affine Systems Under Dwell-Time Constraints

In this technical note, we propose a model predictive control (MPC) framework for switched piecewise-affine (PWA) systems under dwell-time constraints, with guaranteed recursive feasibility and closed-loop stability. Based on the mixed logical dynamical system framework, a general framework for modeling switched PWA systems is developed. A two-stage method for terminal set construction is proposed, and nonconservative stability conditions for the system are further established. Then, we developed a novel MPC framework for switched PWA systems with guaranteed recursive feasibility and stability. The resulting optimization problem is formulated as a mixed-integer quadratic program (MIQP), which can be solved by existing solvers. A numerical example is also provided to demonstrate the feasibility and effectiveness of the theoretical results. This is the first time MPC approaches have been applied to switched PWA systems with guaranteed stability and recursive feasibility.