Robust receding horizon control for piecewise linear systems based on constrained positively invariant sets

Abstract

This paper considers receding horizon control for constrained piecewise linear systems with the unknown bounded disturbance. The proposed robust receding horizon control is implemented by solving a min-max type optimization problem at each time step, in which mixed logical dynamical formulation is employed, with an end set constraint which consists of constrained positively invariant sets. A simple example is presented to show that the control law we propose guarantees convergence to the set and satisfying the constraints for the bounded disturbance.