The Distributed Constraint Optimization Problem (DCOP) formulation is a powerful tool for modeling multi-agent coordination problems. Researchers have recently extended this model to Proactive Dynamic DCOPs (PD-DCOPs) to capture the inherent dynamism present in many coordination problems. The PD-DCOP formulation is a finite-horizon model that assumes a finite horizon is known a priori. It ignor...

This paper is concerned with stability and recursive feasibility of constrained linear receding horizon control schemes without terminal constraints and costs. Particular attention is paid to characterize the basin of attraction S of the asymptotically stable equilibrium. For stabilizable linear systems with quadratic costs and convex constraints we show that any compact subset of the interior ...

Recently, suboptimality estimates for model predictive controllers (MPC) have been derived for the case without additional stabilizing endpoint constraints or a Lyapunov function type endpoint weight. The proposed methods yield a posteriori and a priori estimates of the degree of suboptimality with respect to the infinite horizon optimal control and can be evaluated at runtime of the MPC algori...

This paper addresses a robust predictive control of additive discrete time uncertain nonlinear systems. The controller design is characterized as an optimization problem of the “worst-case” objective function over an infinite moving horizon. A sufficient state feedback synthesis condition is provided in the form of a linear matrix inequality (LMI) optimization and will be solved online at each ...

Stability results are given for a class of feedback systems arising from the regulation of time-varying discrete-time systems using optimal infinite-horizon and moving-horizon feedback laws. The class is characterized by joint constraints on the state and the control, a general nonlinear cost function and nonlinear equations of motion possessing two special properties. It is shown that weak con...

This paper continues the earlier studies [ 17, 181 whose object was to develop an abstract framework for the analysis of problems of resource allocation in continuous time over an infinite horizon. These papers gave conditions on the preferences and technology sufficient to guarantee the existence of an optimal program. In this paper I shall provide an answer to the following question. What str...

This paper derives the equilibrium of an in ̄nite-horizon discrete-time CAPM economy in which agents have discounted expected quadratic utility functions. We show that there is an income stream obtainable by trading on the ̄nancial markets which best approximates perfect consumption smoothing (called the least variable income stream or LVI) such that the equilibrium consumption of each agent is ...

A typical discrete-time sequential decision problem involves a system whose state is assumed to evolve either deterministically or probabilistically over time-periods that are often called stages. This evolution is affected by the decisions a planner makes at the beginning of each stage after observing the system state. The decision maker’s goal then is to optimize some measure of system perfor...