Sparse Neural Dynamics Modeling for NMPC-Based UAV Trajectory Tracking

Accurate and computationally efficient trajectory tracking remains a critical challenge for unmanned aerial vehicles (UAVs), particularly when nonlinear model predictive control (NMPC) is combined with learning-based dynamics models that introduce significant computational burden. This paper proposes a sparse neural dynamics modeling approach by integrating structured pruning and robustness-enhancing fine-tuning techniques to enable efficient nonlinear MPC (NMPC) for UAV trajectory tracking. To this end, a structured neuron-level pruning strategy is introduced, combining L1-norm importance scores with adversarial sensitivity analysis to identify and remove redundant neurons from a neural dynamics model. To preserve smoothness and robustness in closed-loop control, spectral norm constraints and gradient regularization are further incorporated during fine-tuning. The resulting pruned neural dynamics model is embedded into an NMPC framework for online trajectory tracking. Simulation results on a fixed-wing UAV demonstrate that the proposed method reduces the number of trainable parameters by approximately 69% and achieves a 19% reduction in average NMPC solve time, leading to an effective control update frequency of about 39 Hz under the considered simulation settings. Compared with conventional controllers, including TECS and linear MPC, the proposed approach achieves significantly improved trajectory tracking accuracy, as reflected by lower MAE and RMSE across all position axes. These results indicate that structured sparsification of neural dynamics models provides an effective means to enhance both computational efficiency and tracking performance in NMPC-based UAV control.