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This paper presents a model predictive control for nonlinear asynchronous switched systems, aiming to achieve H∞ performance and addressing feasibility issues. The method proposed guarantees the recursive feasibility of each sub‐system after switching moments in the presence of exogenous disturbances and unknown matched and mismatched time intervals due to asynchronous switching. The boundaries of the feasibility region for each sub‐system are determined in order to impose constraints on decision parameters and switching signals. These constraints aim to maximize the mentioned region while ensuring stability. Additionally, by identifying the common region of feasibility among different sub‐systems, conditions are established for initializing the sub‐systems at the switching moments to ensure that the system states remain within this feasibility region even under the worst switching scenario. Therefore, by ensuring the initial feasibility at the switching moments and demonstrating recursive feasibility, the overall feasibility of the developed MPC is guaranteed at all times. The benefits of the proposed approach are thoroughly investigated through the simulation of a chemical system. The results demonstrate the effectiveness of the proposed method. [ABSTRACT FROM AUTHOR]