We propose a distributed data-based predictive control scheme to stabilize network system described by linear dynamics. Agents cooperate predict the future evolution without knowledge of dynamics, relying instead on learning representation from single sample trajectory. employ this reformulate finite-horizon Linear Quadratic Regulator problem as optimization with separable objective functions a...

In this paper we present an approach to test stability and feasibility of discrete-time LTI systems subject to constrained optimal control. The analysis is based on the feedback solution of the constrained optimal control problem formulated in a Receding Horizon fashion. The validation procedure consists of two independent parts. For stability, a piecewise quadratic Lyapunov function is compute...

It is well known that unconstrained infinite-horizon optimal control may be used to construct a stabilizing controller for a nonlinear system. In this note, we show that similar stabilization results may be achieved using unconstrained finite horizon optimal control. The key idea is to approximate the tail of the infinite horizon cost-to-go using, as terminal cost, an appropriate control Lyapun...

Receding-horizon predictive control ooers a practical approach to complex control problems where robustness and adaptability are required. Important theoretical developments have been reported, leading to many algorithms and acronyms. This paper seeks to provide an encompassing treatment of a broad range of predictive schemes. Some new results on stability are also obtained.

Some recent advances in stability and optimality for the nonlinear receding horizon control (NRHC) or the nonlinear model predictive control (NMPC) are assessed. The NRHCs with terminal conditions are surveyed in terms of a terminal state equality constraint, a terminal cost, and a terminal constraint set. Other NRHCs without terminal conditions are surveyed in terms of a control Lyapunov funct...

An infinite horizon controller is developed that allows incorporation of input and state constraints in a receding horizon feedback strategy. For both stable and unstable linear plants, feasibility of the constraints guarantees nominal closed-loop stability for all choices of the tuning parameters in the control law. The constraints’ feasibility Manuscript received September 20, 1991; revised M...

Autonomous surface vehicles (ASV) are becoming more widely used in environmental monitoring applications. Due to the limited duration of these vehicles, algorithms need to be developed to save energy and maximize monitoring efficiency. This paper compares receding horizon path planning models for their effectiveness at collecting usable data in an aquatic environment. An adaptive receding horiz...