PANDA: A Matrix-Free Differentiable NMPC Solver via Proximal Averaged Quasi-Newton with Adaptive Linesearch Algorithm

Yuankun Chen, Zifei Nie, Xun Gong +2

Differentiable nonlinear model predictive control (NMPC) provides a principled way to embed optimal control structure into end-to-end learning paradigms, but its practical use is o…