In this study, an observer-based robust model predictive control scheme is proposed to control a class of switched nonlinear systems in the presence of time delay and parametric uncertainties under arbitrary switching. Constructing an appropriate Lyapunov–Krasovskii functional in conjunction with an infinite horizon cost function, sufficient conditions are obtained to guarantee the asymptotic stability of the closed-loop switched system in terms of linear matrix inequalities depending on the time delay, the upper bounds of uncertain parameters, and the Lipschitz constant of subsystems. To model the uncertainty of the system, the parametric uncertainty is used to reduce the computational burden and the conservatism of the method. In the proposed method, a predictive state observer and an observer-based controller are synthesized via an online optimization problem to minimize the upper bound of the cost function, while handling the constraints. Finally, the obtained results are validated using practical and numerical simulations.

在这项研究中，提出了一种基于观测器的鲁棒模型预测控制方案，以在任意切换存在时滞和参数不确定性的情况下控制一类切换非线性系统。结合无限远景成本函数构造适当的Lyapunov–Krasovskii函数，获得了充分的条件以保证线性开关系统的不等式取决于时间延迟，不确定参数的上限，从而保证闭环切换系统的渐近稳定性，以及子系统的Lipschitz常数。为了对系统的不确定性进行建模，可以使用参数不确定性来减少计算负担和方法的保守性。在建议的方法中，通过在线优化问题来综合预测状态观察者和基于观察者的控制器，以在处理约束的同时最小化成本函数的上限。最后，使用实际和数值模拟来验证所获得的结果。