{"record_type":"pith_number_record","schema_url":"https://pith.science/schemas/pith-number/v1.json","pith_number":"pith:2017:5HD2K7HSPVF7HIMG6OALBKXQKU","short_pith_number":"pith:5HD2K7HS","schema_version":"1.0","canonical_sha256":"e9c7a57cf27d4bf3a186f380b0aaf0550d1c63f49e76410904b7fee44f75a08b","source":{"kind":"arxiv","id":"1706.08932","version":2},"attestation_state":"computed","paper":{"title":"Iterative Sequential Action Control for Stable, Model-Based Control of Nonlinear Systems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"cs.RO","authors_text":"Emmanouil Tzorakoleftherakis, Todd Murphey","submitted_at":"2017-06-27T16:33:30Z","abstract_excerpt":"This paper presents iterative Sequential Action Control (iSAC), a receding horizon approach for control of nonlinear systems. The iSAC method has a closed-form open-loop solution, which is iteratively updated between time steps by introducing constant control values applied for short duration. Application of a contractive constraint on the cost is shown to lead to closed-loop asymptotic stability under mild assumptions. The effect of asymptotically decaying disturbances on system trajectories is also examined. To demonstrate the applicability of iSAC to a variety of systems and conditions, we "},"verification_status":{"content_addressed":true,"pith_receipt":true,"author_attested":false,"weak_author_claims":0,"strong_author_claims":0,"externally_anchored":false,"storage_verified":false,"citation_signatures":0,"replication_records":0,"graph_snapshot":true,"references_resolved":false,"formal_links_present":false},"canonical_record":{"source":{"id":"1706.08932","kind":"arxiv","version":2},"metadata":{"license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","primary_cat":"cs.RO","submitted_at":"2017-06-27T16:33:30Z","cross_cats_sorted":["cs.SY"],"title_canon_sha256":"18450832cccdd411927020baf46c6a93de022d76aaeaa81a55695dc714276614","abstract_canon_sha256":"40ffb1f7fe2d0801f6aa4c47476c81479572e8c447d1a5945a69989176b66ce0"},"schema_version":"1.0"},"receipt":{"kind":"pith_receipt","key_id":"pith-v1-2026-05","algorithm":"ed25519","signed_at":"2026-05-18T00:01:53.626379Z","signature_b64":"LBDb/fh5b8iwJhaJjyJ24Dr3/L/fjk5DZYyDWX9wFWXcxZx7T6EiWy3REuxl8w804qOdim6jyOzhEUBMSoKVBg==","signed_message":"canonical_sha256_bytes","builder_version":"pith-number-builder-2026-05-17-v1","receipt_version":"0.3","canonical_sha256":"e9c7a57cf27d4bf3a186f380b0aaf0550d1c63f49e76410904b7fee44f75a08b","last_reissued_at":"2026-05-18T00:01:53.625870Z","signature_status":"signed_v1","first_computed_at":"2026-05-18T00:01:53.625870Z","public_key_fingerprint":"8d4b5ee74e4693bcd1df2446408b0d54"},"graph_snapshot":{"paper":{"title":"Iterative Sequential Action Control for Stable, Model-Based Control of Nonlinear Systems","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":["cs.SY"],"primary_cat":"cs.RO","authors_text":"Emmanouil Tzorakoleftherakis, Todd Murphey","submitted_at":"2017-06-27T16:33:30Z","abstract_excerpt":"This paper presents iterative Sequential Action Control (iSAC), a receding horizon approach for control of nonlinear systems. The iSAC method has a closed-form open-loop solution, which is iteratively updated between time steps by introducing constant control values applied for short duration. Application of a contractive constraint on the cost is shown to lead to closed-loop asymptotic stability under mild assumptions. The effect of asymptotically decaying disturbances on system trajectories is also examined. To demonstrate the applicability of iSAC to a variety of systems and conditions, we "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1706.08932","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"},"aliases":[{"alias_kind":"arxiv","alias_value":"1706.08932","created_at":"2026-05-18T00:01:53.625950+00:00"},{"alias_kind":"arxiv_version","alias_value":"1706.08932v2","created_at":"2026-05-18T00:01:53.625950+00:00"},{"alias_kind":"doi","alias_value":"10.48550/arxiv.1706.08932","created_at":"2026-05-18T00:01:53.625950+00:00"},{"alias_kind":"pith_short_12","alias_value":"5HD2K7HSPVF7","created_at":"2026-05-18T12:31:00.734936+00:00"},{"alias_kind":"pith_short_16","alias_value":"5HD2K7HSPVF7HIMG","created_at":"2026-05-18T12:31:00.734936+00:00"},{"alias_kind":"pith_short_8","alias_value":"5HD2K7HS","created_at":"2026-05-18T12:31:00.734936+00:00"}],"events":[],"event_summary":{},"paper_claims":[],"inbound_citations":{"count":0,"internal_anchor_count":0,"sample":[]},"formal_canon":{"evidence_count":0,"sample":[],"anchors":[]},"links":{"html":"https://pith.science/pith/5HD2K7HSPVF7HIMG6OALBKXQKU","json":"https://pith.science/pith/5HD2K7HSPVF7HIMG6OALBKXQKU.json","graph_json":"https://pith.science/api/pith-number/5HD2K7HSPVF7HIMG6OALBKXQKU/graph.json","events_json":"https://pith.science/api/pith-number/5HD2K7HSPVF7HIMG6OALBKXQKU/events.json","paper":"https://pith.science/paper/5HD2K7HS"},"agent_actions":{"view_html":"https://pith.science/pith/5HD2K7HSPVF7HIMG6OALBKXQKU","download_json":"https://pith.science/pith/5HD2K7HSPVF7HIMG6OALBKXQKU.json","view_paper":"https://pith.science/paper/5HD2K7HS","resolve_alias":"https://pith.science/api/pith-number/resolve?arxiv=1706.08932&json=true","fetch_graph":"https://pith.science/api/pith-number/5HD2K7HSPVF7HIMG6OALBKXQKU/graph.json","fetch_events":"https://pith.science/api/pith-number/5HD2K7HSPVF7HIMG6OALBKXQKU/events.json","actions":{"anchor_timestamp":"https://pith.science/pith/5HD2K7HSPVF7HIMG6OALBKXQKU/action/timestamp_anchor","attest_storage":"https://pith.science/pith/5HD2K7HSPVF7HIMG6OALBKXQKU/action/storage_attestation","attest_author":"https://pith.science/pith/5HD2K7HSPVF7HIMG6OALBKXQKU/action/author_attestation","sign_citation":"https://pith.science/pith/5HD2K7HSPVF7HIMG6OALBKXQKU/action/citation_signature","submit_replication":"https://pith.science/pith/5HD2K7HSPVF7HIMG6OALBKXQKU/action/replication_record"}},"created_at":"2026-05-18T00:01:53.625950+00:00","updated_at":"2026-05-18T00:01:53.625950+00:00"}