Safety Meets Speed: Accelerated Neural MPC with Safety Guarantees and No Retraining

摘要

While Model Predictive Control (MPC) enforces safety via constraints, its real-time execution can exceed embedded compute budgets. We propose a Barrier-integrated Adaptive Neural Model Predictive Control (BAN-MPC) framework that synergizes neural networks' fast computation with MPC's constraint-handling capability. To ensure strict safety, we replace traditional Euclidean distance with Control Barrier Functions (CBFs) for collision avoidance. We integrate an offline-learned neural value function into the optimization objective of a Short-horizon MPC, substantially reducing online computational complexity. Additionally, we use a second neural network to learn the sensitivity of the value function to system parameters, and adaptively adjust the neural value function based on this neural sensitivity when model parameters change, eliminating the need for retraining and reducing offline computation costs. The hardware in-the-loop (HIL) experiments on Jetson Nano show that BAN-MPC solves 200 times faster than traditional MPC, enabling collision-free navigation with control error below 5\% under model parameter variations within 15\%, making it an effective embedded MPC alternative.