Predictive Control of Switched Nonlinear Systems: Satisfying Uncertain Schedules Subject to State and Control Constraints

In this work we consider robust predictive control of switched uncertain nonlinear systems required to satisfy a prescribed switching sequence with uncertainty in the switching times subject to state and input constraints. To illustrate our approach, we consider first the problem of satisfying a prescribed schedule subject to uncertainty only in the switching time. Predictive controllers that guarantee state and input constraint satisfaction …