📝 SummarXiv

Abstract

Nonlinear optimization-based policies have seen large success in recent years, primarily due to the incredible capabilities of nonlinear Model Predictive Control (nMPC). These policies require solving computationally demanding nonlinear optimization programs (NLP) online at each time-step. The solution map of these NLPs, viewed as a function of the measured state of the system and design parameters, may not be differentiable, which poses significant challenges if the policy is designed with a policy optimization scheme. In this paper, we propose a principled way to regularize NLPs to obtain a surrogate derivative even if the NLP is not differentiable. The surrogate problem is differentiable by design and its solution map coincides with the solution of the unregularized problem. We demonstrate the effectiveness of our approach in a free-final-time optimal control problem and a receding-horizon nonlinear MPC example.