On-line and Off-line Based Approximation Algorithm for Model Predictive Control of Hybrid Systems

In this paper, a new approximate algorithm for model predictive control of hybrid systems is proposed. The proposed algorithm consists of the off-line computation and the on-line computation. In the off-line computation, lower and upper bounds of the optimal value of a given cost function for each mode sequence are calculated. In the on-line computation, after the mode sequence is decided by using off-line computation results, the finite-time optimal control problem, i.e., the quadratic programming problem is solved. So the reduction of the computation time in the on-line computation is achieved. In this paper, the effectiveness of the proposed algorithm is shown by a numerical example.