A nonparametric policy constructed from offline MPC solutions accelerates control by orders of magnitude while preserving recursive feasibility and bounded optimality gap under sufficient data coverage.
By virtue of (11): ∥x′∥ ≤L f ∥x∥+L u∥u∥(17) Letx 0 ∈X:∥x 0 −x∥ ≤r, andx ′ 0 =f(x 0,u)be the successor state under the sameu
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Data-driven Acceleration of MPC with Guarantees
A nonparametric policy constructed from offline MPC solutions accelerates control by orders of magnitude while preserving recursive feasibility and bounded optimality gap under sufficient data coverage.