Sequence-Based Receding Horizon Control over Networks With Delays and Data Losses

In this paper, we are concerned with sequence-based receding horizon control over networks. We address the most general case where acknowledgments are provided but are also subject to delays and losses. This is in contrast to the majority of the related work in literature, where they are either delivered instantaneously and without losses or not issued at all. As in the case where acknowledgments are not issued, the separation principle does not hold in the considered setup, rendering the optimal control law generally nonlinear. Based on previous results, we present an iterative algorithm for the computation of the parameters of a linear receding horizon controller that does not assume separation a priori, taking the dual effect into account. The resulting controller is optimal in the sense that it minimizes an upper bound of the underlying quadratic cost function with respect to the control sequences. Its performance is demonstrated in a numerical example.