Automatic nonlinear MPC approximation with closed-loop guarantees

arXiv:2312.10199v2 Announce Type: replace-cross
Abstract: Safety guarantees are vital in many control applications, such as robotics. Model predictive control (MPC) provides a constructive framework for controlling safety-critical systems, but is limited by its computational complexity. We address this problem by presenting a novel algorithm that automatically computes an explicit approximation to nonlinear MPC schemes while retaining closed-loop guarantees. Specifically, the problem can be reduced to a function approximation problem, which we then tackle by proposing ALKIA-X, the Adaptive and Localized …

abstract algorithm applications approximation arxiv complexity computational control cs.lg cs.sy eess.sy framework loop math.oc mpc novel predictive presenting robotics safety safety-critical systems type vital