Model predictive control of directed-graph type hybrid systems

This paper addresses the model predictive control (MPC) problem of a hybrid system that consists of a continuous-time linear system and a directed graph, called here directed-graph type hybrid systems (DGHS). One of the keys to such a problem is to represent a directed graph in an effective form in order to reduce the original problem into the mixed integer problem. This paper gives a solution to this issue by representing it with a time-varying linear system model with a relatively small number of binary input (free) variables. Furthermore, an online method for updating a model of a time-varying directed graph is proposed. Finally, it is shown by numerical examples that the proposed method is effective.