Approximate robust receding horizon control for piecewise linear systems via orthogonal partitioning

This paper considers an approximate robust receding horizon control algorithm for a class of hybrid systems by exploiting the equivalence between piecewise linear systems and mixed logical dynamical systems. The control algorithm consists of two control modes which are a state feedback mode and a receding horizon control mode. In the receding horizon control mode, the constrained positively invariant sets are used as the end set constraint and the control law is obtained as an explicit form off-line. To reduce the computations we propose an algorithm that will determine the approximate solution by using orthogonal partitioning.