中文摘要：

针对具有任意切换序列的约束线性切换系统,提出一种切换控制律的滚动优化设计方法.利用共同控制Lyapunov函数构造一个解析的无约束切换状态反馈控制律.基于滚动优化原理进行切换控制律的滚动优化再设计,使之满足系统约束和优化性能指标.利用共同控制Lyapunov函数的性质,在理论上证明所提切换控制律的渐近稳定性、逆最优性和共同扇形裕度（0.5,∞）,并用数值仿真验证了结果的有效性.

英文摘要：

A method of receding horizon optimization design of switching control law was proposed for constrained linear switched systems subject to arbitrary switched rules.Common control Lyapunov functions（CCLF）of the system were used to construct an analytic switching state feedback control law without constraints.Then,by using the receding horizon optimization principle,the switching control law was redesigned in the form of receding horizon optimization,which guarantees the fulfillment of constraints and the optimization of performance indexes.Moreover,the results on uniformly asymptotical stability,inverse optimality and common section region（0.5,∞）of the switching control law were proved theoretically by employing the properties of the common control Lyapunov function（CCLF）.A simulation example was used to demonstrate the effectiveness of the results obtained here.