Towards Closed-loop Stability of Nonlinear Receding Horizon Games
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arXiv
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| Main Authors: | , , |
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| Format: | Preprint |
| Published: |
2026
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| _version_ | 1866917487149318144 |
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| author | Hall, Sophie Dörfler, Florian Faulwasser, Timm |
| author_facet | Hall, Sophie Dörfler, Florian Faulwasser, Timm |
| contents | We analyze Receding Horizon Games without any MPC-like terminal ingredients. We show that recursive feasibility can be inferred from the turnpike phenomenon under mild assumptions. Moreover, we prove sufficient conditions for practical asymptotic convergence of the closed-loop trajectories, and we discuss how the gap towards practical asymptotic stability may be closed. We use numerical examples to show that the closed-loop region of attraction around the steady-state GNE shrinks exponentially with the horizon length, a behavior previously known only for model predictive control. Further, we apply a linear end penalty and demonstrate in numerical simulations that it suppresses the leaving arc and ensures asymptotic convergence to the steady-state GNE. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_12467 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Towards Closed-loop Stability of Nonlinear Receding Horizon Games Hall, Sophie Dörfler, Florian Faulwasser, Timm Systems and Control We analyze Receding Horizon Games without any MPC-like terminal ingredients. We show that recursive feasibility can be inferred from the turnpike phenomenon under mild assumptions. Moreover, we prove sufficient conditions for practical asymptotic convergence of the closed-loop trajectories, and we discuss how the gap towards practical asymptotic stability may be closed. We use numerical examples to show that the closed-loop region of attraction around the steady-state GNE shrinks exponentially with the horizon length, a behavior previously known only for model predictive control. Further, we apply a linear end penalty and demonstrate in numerical simulations that it suppresses the leaving arc and ensures asymptotic convergence to the steady-state GNE. |
| title | Towards Closed-loop Stability of Nonlinear Receding Horizon Games |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2605.12467 |