Energy-based Regularization for Learning Residual Dynamics in Neural MPC for Omnidirectional Aerial Robots
For aerial robotics control, this work offers a novel regularization method that enhances data-driven MPC performance by incorporating physical energy constraints.
The paper introduces an energy-based regularization loss for training a neural network that learns residual dynamics of an omnidirectional aerial robot, integrated into an MPC framework. This approach improves positional MAE by 23% over analytical MPC and up to 15% over standard neural MPC, with increased flight stability.
Data-driven Model Predictive Control (MPC) has lately been the core research subject in the field of control theory. The combination of an optimal control framework with deep learning paradigms opens up the possibility to accurately track control tasks without the need for complex analytical models. However, the system dynamics are often nuanced and the neural model lacks the potential to understand physical properties such as inertia and conservation of energy. In this work, we propose a novel energy-based regularization loss function which is applied to the training of a neural model that learns the residual dynamics of an omnidirectional aerial robot. Our energy-based regularization encourages the neural network to cause control corrections that stabilize the energy of the system. The residual dynamics are integrated into the MPC framework and improve the positional mean absolute error (MAE) over three real-world experiments by 23% compared to an analytical MPC. We also compare our method to a standard neural MPC implementation without regularization and primarily achieve a significantly increased flight stability implicitly due to the energy regularization and up to 15% lower MAE. Our code is available under: https://github.com/johanneskbl/jsk_aerial_robot/tree/develop/neural_MPC.