LAUSR

This article proposes a dual-mode multiobjective Lyapunov-based economic model-predictive control (MOLEMPC) for constrained nonlinear time-delay systems with external disturbances. First, considering the conflicting objectives, the Pareto compromise approach is used to calculate the compromised economic stability point and the multiobjective optimization function. To compensate for the impact of input delay, a model-based estimator is designed by using the actual state, historical inputs, and nominal models of the system. By the proposed dual-mode Lyapunov-based economic model-predictive control (LEMPC) scheme, the feasible domain of the initial point of a closed-loop system is increased, in the meantime, the stability of the closed-loop system with disturbances and delay is guaranteed. The recursive feasibility and stability analysis of the MOLEMPC controller is given in detail. We illustrate that the closed-loop system state converges in a robust invariant set after a finite time. Finally, simulations demonstrate the reliability and advantages of the proposed strategy.