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In case of linear quadratic regulator (LQR), the updated terminal cost receding horizon control (UTC-RHC) enhances the standard RHC in terms of the stability and the convergence to the optimal solution. Based on the action-dependent (AD) value functions, known as Q-function, this paper proposes two modified RHC methods, AD-RHC and AD-UTC-RHC and proves the stability and convergence by using the matrix...
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