AC4MPC: Actor-Critic Reinforcement Learning for Nonlinear Model Predictive Control

Rudolf Reiter, Andrea Ghezzi, Katrin Baumgärtner +3

\Ac{MPC} and \ac{RL} are two powerful control strategies with, arguably, complementary advantages. In this work, we show how actor-critic \ac{RL} techniques can be leveraged to imp…