Properties of Receding Horizon Control for a Class of Hybrid Systems with Event Uncertainties

We consider optimal control problems for a class of hybrid systems with switches dependent on an external event process. In the case where all event times in this process are fully known, the solution to such problems was obtained in prior work. When event times are uncertain or unknown, we propose a Receding Horizon (RH) control scheme in which only some future event information is available within a time window of length T . Analyzing sample paths obtained under this scheme and comparing them to those obtained under optimal control, we derive several properties of the RH controller, including the fact that the error due to lack of future event information is monotonically decreasing under certain conditions and may be zero for segments of the sample path, depending on the window length T .