Distributed MPC based on robustly controllable sets for PWA systems (Q6175605)

The paper is devoted to studying one of hybrid systems, namely, a piecewise affine (PWA) system. For this system, a distributed model predictive control algorithm based on a series of \(r\)-step robustly controlled invariant sets is presented. The proposed algorithm reduces the online computational burden and guarantees that the states in the \(r\)-step robustly controllable set converge to the terminal set in at most \(r\) steps. Simulation results demonstrate the effectiveness of the algorithm.