Summers, SeanRaimondo, DavideJones, ColinLygeros, JohnMorari, Manfred2011-10-242011-10-242011-10-24201010.3182/20100901-3-IT-2016.00275https://infoscience.epfl.ch/handle/20.500.14299/71911In this paper an algorithm for nonlinear explicit model predictive control is introduced based on multiresolution function approximation that returns a low complexity approximate receding horizon control law built on a hierarchy of second order interpolets. Feasibility and stability guarantees for the approximate control law are given using reachability analysis, where interval methods are used to construct a capture basin (feasible region). A constructive algorithm is provided that combines adaptive function approximation with interval methods to build a receding horizon control law that is suboptimal, yet with a region of guaranteed feasibility and stability. The resulting control law is built on a grid hierarchy that is fast to evaluate in real-time systems.text::conference output::conference proceedings::conference paper