Hardware Neural Control of CartPole and F1TENTH Race Car
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Date
2024-07-11
Publication Type
Working Paper
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yes
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Abstract
Nonlinear model predictive control (NMPC) has proven to be an effective control method, but it is expensive to compute. This work demonstrates the use of hardware FPGA neural network controllers trained to imitate NMPC with supervised learning. We use these Neural Controllers (NCs) implemented on inexpensive embedded FPGA hardware for high frequency control on physical cartpole and F1TENTH race car. Our results show that the NCs match the control performance of the NMPCs in simulation and outperform it in reality, due to the faster control rate that is afforded by the quick FPGA NC inference. We demonstrate kHz control rates for a physical cartpole and offloading control to the FPGA hardware on the F1TENTH car. Code and hardware implementation for this paper are available at https:// github.com/SensorsINI/Neural-Control-Tools.
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published
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Pages / Article No.
2407.08681
Publisher
Cornell University
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Methods
Software
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Date created
Subject
FPGA; NMPC; MLP; Multilayer perceptron; Neural control; Low latency; Immitation learning
Organisational unit
08836 - Delbrück, Tobias (Tit.-Prof.)
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Related publications and datasets
Is supplemented by: https://github.com/SensorsINI/Neural-Control-Tools