FPGA Hardware Neural Control of CartPole and F1TENTH Race Car

摘要

Latency and computational cost often limit the use of Nonlinear Model Predictive Control (NMPC) in real-time robotics. To address this limitation, our work investigates FPGA-implemented Neural Controllers (NC) trained through supervised learning, mimicking NMPC. We show that inexpensive embedded FPGA hardware is sufficient to implement these neural controllers for high-frequency control of robotic systems. We demonstrate kilohertz control rates for a cartpole and offload control to the FPGA hardware on the F1TENTH race car. The FPGA NC outperforms NMPC on the cartpole, due to the faster control rate afforded by faster NC inference. The code and hardware implementation for this paper are available at https://github.com/SensorsINI/Neural-Control-Tools.