Model‐based vs data‐driven adaptive control: An overview

In this paper, we present an overview of adaptive control by contrasting model‐based approaches with data‐driven approaches. Indeed, we propose to classify adaptive controllers into two main subfields, namely, model‐based adaptive control and data‐driven adaptive control. In each subfield, we cite monographs, survey papers, and recent research papers published in the last few years. We also include a few simple examples to illustrate some general concepts in each subfield.     

Constructing numerically stable Kalman filter‐based algorithms for gradient‐based adaptive filtering

This paper addresses the numerical aspects of adaptive filtering (AF) techniques for simultaneous state and parameters estimation arising in the design of dynamic positioning systems in many areas of research. The AF schemes consist of a recursive optimization procedure to identify the uncertain system parameters by minimizing an appropriate defined performance index and the application of the Kalman filter (KF) for dynamic positioning purpose. The use of gradient‐based optimization methods in the AF computational schemes yields to a set of the filter sensitivity equations and a set of matrix Riccati‐type sensitivity equations. The filter sensitivities evaluation is usually carried out by the conventional KF, which is known to be numerically unstable, and its derivatives with respect to unknown system parameters. Recently, a novel square‐root approach for the gradient‐based AF by the method of the maximum likelihood has been proposed. In this paper, we show that various square‐root AF schemes can be derived from only two main theoretical results. This elegant and simple computational technique replaces the standard methodology based on direct differentiation of the conventional KF equations (with their inherent numerical instability) by advanced square‐root filters (and its derivatives as well). As a result, it improves the robustness of the computations against round off errors and leads to accurate variants of the gradient‐based AFs. Additionally, such methods are ideal for simultaneous state estimation and parameter identification because all values are computed in parallel. The numerical experiments are given. Copyright © 2015 John Wiley & Sons, Ltd.     

自适应滤波算法的神经网络实现

为了提高传统自适应滤波器求解权值的速度,在Hopfield神经网络的基础上,提出自适应滤波算法的神经网络硬件实现,从理论上进行了分析,并进行了仿真。     

Online data‐driven composite adaptive backstepping control with exact differentiators

This paper presents an online data‐driven composite adaptive backstepping control for a class of parametric strict‐feedback nonlinear systems with mismatched uncertainties, where both tracking errors and prediction errors are utilized to update parametric estimates. Hybrid exact differentiators are applied to obtain the derivatives of virtual control inputs such that the complexity problem of integrator backstepping can be avoided. Closed‐loop tracking error equations are integrated in a moving‐time window to generate prediction errors such that online recorded data can be utilized to improve parameter adaptation. Semiglobal asymptotic stability of the closed‐loop system is rigorously established by the time‐scales separation and Lyapunov synthesis. The proposed composite adaptation can not only avoid the application of identification models and linear filters resulting in a simpler control structure, but also suppress parametric uncertainties and external perturbations via the time‐interval integral. Simulation results have demonstrated that the proposed approach possesses superior control performances under both noise‐free and noisy‐measurement environments. Copyright © 2015 John Wiley & Sons, Ltd.     

Set theoretic performance verification of low‐frequency learning adaptive controllers

Although adaptive control has been used in numerous applications, the ability to obtain a predictable transient and steady‐state closed‐loop performance is still a challenging problem from the verification and validation standpoint. To that end, we considered a recently developed robust adaptive control methodology called low‐frequency learning adaptive control and utilized a set of theoretic analysis to show that the transitory performance of this approach can be expressed, analyzed, and optimized via a convex optimization problem based on linear matrix inequalities. This key feature of this design and analysis framework allows one to tune the adaptive control parameters rigorously so that the tracking error components of the closed‐loop nonlinear system evolve in a priori specified region of the state space whose size can be minimized by selecting a suitable cost function. Simulation examples are provided to demonstrate the efficacy of the proposed verification and validation architecture showing the possibility of performing parametric studies to analyze the interplay between the size of the tracking error residual set and important design parameters such as the adaptation rate and the low‐pass filters time constant of the weights adaptation algorithm. Copyright © 2014 John Wiley & Sons, Ltd.     

Design of a CMOS multi‐rate adaptive continuous‐time equalizer based on power spectrum estimation

An adaptive continuous‐time equalizer for reliable short‐haul high‐speed serial communications is described in this paper. The adaptive equalizer uses the spectrum‐balancing technique to adapt its response to changes in the bandwidth, amplitude, and bit rate of the input signal. In this way, it is able to compensate the frequency response of a 1‐mm diameter step‐index plastic optical fiber, for lengths up to 50 m, and bit rates ranging from 400 Mb/s to 2.5 Gb/s. Experimental results are shown to demonstrate its feasibility. Copyright © 2017 John Wiley & Sons, Ltd.     

一种新的变步长LMS自适应滤波算法

为了解决传统的固定步长的最小均方误差(LMS)算法在收敛速度和稳态误差上的矛盾,基于Sigmoid函数进行改进,提出了算法步长因子μ与误差信号e之间的一种新的非线性函数关系.首先,基于Sigmoid的偶函数特性将2个函数相乘,使得算法在稳态时能够获取更小的步长;然后,将误差信号用指数形式进行表示,进一步控制步长的变化速度;最后,通过误差e(n)和e(n-1)联合改变步长因子,提高了算法在低信噪比时的性能.理论分析和计算机仿真表明,与已有的变步长LMS算法相比,相同收敛精度时该算法的收敛速度更快,相同收敛速度时该算法的收敛精度更高,在相同条件下算法的抗噪声性能更好.     

A comparison of model‐based and data‐driven controller tuning

In many industrial applications, finding a model from physical laws that is both simple and reliable for control design is a hard and time‐consuming undertaking. When a set of input/output measurements is available, one can derive the controller directly from data, without relying on the knowledge of the physics. In the scientific literature, two main approaches have been proposed for control system design from data. In the ‘model‐based’ approach, a model of the system is first derived from data and then a controller is computed‐based on the model. In the ‘data‐driven’ approach, the controller is directly computed from data. In this work, the previous approaches are compared from a novel perspective. The main finding of the paper is that, although from the standard perspective of parameter variance analysis the model‐based approach is always statistically more efficient, the data‐driven controller might outperform the model‐based solution for what concerns the final control cost. Copyright © 2013 John Wiley & Sons, Ltd.     

基于异步FIFO的高速采样自适应滤波系统的设计

针对用FPGA实现的高速自适应滤波器与高速ADC数据处理速度不匹配、容易产生串扰等问题,提出了一种基于异步FIFO技术的高速采样自适应滤波系统方案,选用双通道高速AD9238-40作为前置输入级,用片内异步FIFO作高速缓存,用FPGA控制采样与滤波,给出了系统的结构框图,对异步FIFO与采样滤波控制器进行了仿真,并将异步FIFO与采样滤波控制器集成在同一FPGA上,完成了对双通道高速AD9238与自适应滤波器的高速匹配控制.仿真结果表明:该方案既能降低系统的成本,又能有效降低高频可能引起的干扰,对于高速实时电路处理具有一定的参考意义.     

Development of mathematical model for signal‐dependent linear adaptive level‐based sampling

A mathematical model for linear adaptive level‐based sampling is developed in this paper. The proposed mathematical model provides a gradual change in quantization size and maintains time difference between two successive samples greater than or equal to loop delay of the system. This model is developed to minimize signal slope overload distortion as well as reduction in quantization noise. The proposed mathematical model is demonstrated in MATLAB simulation environment. Simulation results are compared with level‐based sampling and adaptive level‐based sampling based on bit‐level compression. Copyright © 2015 John Wiley & Sons, Ltd.     

Zero‐attracting variable‐step‐size least mean square algorithms for adaptive sparse channel estimation

Recently, sparsity‐aware least mean square (LMS) algorithms have been proposed to improve the performance of the standard LMS algorithm for various sparse signals, such as the well‐known zero‐attracting LMS (ZA‐LMS) algorithm and its reweighted ZA‐LMS (RZA‐LMS) algorithm. To utilize the sparsity of the channels in wireless communication and one of the inherent advantages of the RZA‐LMS algorithm, we propose an adaptive reweighted zero‐attracting sigmoid functioned variable‐step‐size LMS (ARZA‐SVSS‐LMS) algorithm by the use of variable‐step‐size techniques and parameter adjustment method. As a result, the proposed ARZA‐SVSS‐LMS algorithm can achieve faster convergence speed and better steady‐state performance, which are verified in a sparse channel and compared with those of other popular LMS algorithms. The simulation results show that the proposed ARZA‐SVSS‐LMS algorithm outperforms the standard LMS algorithm and the previously proposed sparsity‐aware algorithms for dealing with sparse signals. Copyright © 2015 John Wiley & Sons, Ltd.     

基于模糊卡尔曼滤波的HEV氢镍电池SOC估计

混合动力汽车(HEV)电池管理系统工作于恶劣工况环境中,采用常规卡尔曼滤波算法估计电池荷电状态(SOC)时,量测噪声统计特性随实际工况条件剧烈变化,会导致估测不准,甚至滤波发散.采用基于模糊自适应卡尔曼滤波的氢镍动力电池SOC估算算法,通过监视理论残差与实际残差的比值,对量测噪声协方差阵进行递推在线修正,使其逐渐逼近真实噪声水平,从而使滤波器执行最优估计,提高估算精度.仿真结果表明,这种算法对随机的量测噪声具有较强的抑制能力.     

Nonlinear adaptive filtering using kernel‐based algorithms with dictionary adaptation

Nonlinear adaptive filtering has been extensively studied in the literature, using, for example, Volterra filters or neural networks. Recently, kernel methods have been offering an interesting alternative because they provide a simple extension of linear algorithms to the nonlinear case. The main drawback of online system identification with kernel methods is that the filter complexity increases with time, a limitation resulting from the representer theorem, which states that all past input vectors are required. To overcome this drawback, a particular subset of these input vectors (called dictionary) must be selected to ensure complexity control and good performance. Up to now, all authors considered that, after being introduced into the dictionary, elements stay unchanged even if, because of nonstationarity, they become useless to predict the system output. The objective of this paper is to present an adaptation scheme of dictionary elements, which are considered here as adjustable model parameters, by deriving a gradient‐based method under collinearity constraints. The main interest is to ensure a better tracking performance. To evaluate our approach, dictionary adaptation is introduced into three well‐known kernel‐based adaptive algorithms: kernel recursive least squares, kernel normalized least mean squares, and kernel affine projection. The performance is evaluated on nonlinear adaptive filtering of simulated and real data sets. As confirmed by experiments, our dictionary adaptation scheme allows either complexity reduction or a decrease of the instantaneous quadratic error, or both simultaneously. Copyright © 2015 John Wiley & Sons, Ltd.     

基于LMS算法的自适应滤波在负压波信号噪声处理中的应用

本文以负压波信号采集滤波为例,介绍了基于LMS算法的自适应滤波器的基本原理和该滤波器几个关键参数设定的基本方法。实践证明,在采集随机不确定信号时,采用此滤波器进行信号调理具有比传统滤波器不可比拟的优越性。     

On identification methods for direct data‐driven controller tuning

In non‐iterative data‐driven controller tuning, a set of measured input/output data of the plant is used directly to identify the optimal controller that minimizes some control criterion. This approach allows the design of fixed‐order controllers, but leads to an identification problem where the input is affected by noise, and not the output as in standard identification problems. Several solutions that deal with the effect of measurement noise in this specific identification problem have been proposed in the literature. The consistency and statistical efficiency of these methods are discussed in this paper and the performance of the different methods is compared. The conclusions offer a guideline on how to solve the data‐driven controller tuning problem efficiently. Copyright © 2010 John Wiley & Sons, Ltd.     

Multiple characteristic model‐based golden‐section adaptive control: Stability and optimization

The characteristic model‐based golden‐section adaptive control (CM‐GSAC) law has been developed for over 20 years in China with a broad range of applications in various fields. However, quite a few theoretical problems remain open despite its satisfying performance in practice. This paper revisits the stability of the CM‐GSAC from its very beginning and explores the underlying implications of the so‐called golden‐section parameter l₂≈0.618. The closed‐loop system, which consists of the CM and the GSAC, is a discrete time‐varying system, and its stability is discussed from three perspectives. First, attentions have been paid to select the optimal controller coefficients such that the closed‐loop system exhibits the best transient performance in the worst case. Second, efforts are made to improve the robustness in the presence of parameter estimation errors, which provide another choice when designing the adaptive controller. Finally, by measuring the slowly time‐varying nature in an explicit inequality form, a bridge is built between the instantaneous stability and the time‐varying stability. In order to relax the constraints on the parameter bounds of the CM, the GSAC is further extended to multiple CMs, which shows more satisfying tracking performance than that of the traditional multiple model adaptive control method. Copyright © 2014 John Wiley & Sons, Ltd.     

Steiglitz–McBride adaptive notch filter based on a variable‐step‐size LMS algorithm and its application to active noise control

This paper proposes a new Steiglitz–McBride (SM) adaptive notch filter (SM‐ANF) based on a robust variable‐step‐size least‐mean‐square algorithm and its application to active noise control (ANC). The proposed SM‐ANF not only has fast convergence but also has small misadjustment. The variable‐step‐size algorithm uses the sum of the squared cross correlation between the error signal and the delayed inputs corresponding to the adaptive weights. The cross correlation provides robustness to the broadband signal, which plays the role of noise. The proposed SM‐ANF is computationally simpler than the existing Newton/recursive least‐squares‐type ANF. The frequency response of the new SM‐ANF has a notch depth of about ?25 dB (for each of the three frequencies considered) and has spectral flatness within 5 dB (peak to peak). This robust notch filter algorithm is used as an observation noise canceller for the secondary path estimation of an ANC system based on the SM method. The ANC with proposed SM‐ANF provides not only faster convergence but also an 11‐dB improvement in noise attenuation over the SM‐based ANC without such a SM‐ANF. Copyright © 2015 John Wiley & Sons, Ltd.     

A data‐driven design method of PID controller with noise filter

When undesirable control actions are generated by measurement noise due to feedback, it is preferable to reduce the noise sensitivity to improve control performance and to extend the plant lifespan. In this paper, a data‐driven design method of a proportional—integral—derivative (PID) controller with a noise filter is proposed for stable single‐input single‐output plants using a one‐shot plant response. This method attains disturbance attenuation under constraints of stability margin and noise sensitivity. A novel data‐based constraint on the PID gains is derived to bound noise sensitivity. A solution can be searched for by solving a linear matrix inequality with respect to PID gains for several values of the filter parameter. Numerical examples demonstrate the adequacy.     

Discrete‐time Lyapunov stable‐staggered estimator MIMO adaptive interference cancelation with experimental verification

Adaptive interference cancelation is of vital importance in a broad array of scientific and engineering disciplines. In this paper we develop a closed‐loop discrete‐time interference cancelation algorithm. The novel features of this algorithm are its ability to deal with multiple channels being affected by interferences with different frequency spectrums. Also we provide a proof of Lyapunov stability of closed‐loop system and asymptotically perfect interference cancelation for a class of interference signals. Furthermore, we introduce a new approach for updating the estimator through the use of staggered estimate. The goal of staggered estimation is to minimize the total number of estimates/calculations done within a time period while ensuring that there is no estimator aliasing. Finally, the proposed algorithm is implemented on an TMS320C6713 DSP Kit and an experimental verification is obtained. Copyright © 2009 John Wiley & Sons, Ltd.     

Adaptive finite‐dimensional optimal linear filtering of nD smooth Gaussian random fields

This paper deals with the optimal filtering problem of nD sampled, Gaussian random fields. The filtering algorithm is based on a state‐space signal model analytically derived from the assumption that the continuous Gaussian random field can be well approximated, almost everywhere, by a continuously differentiable nD surface. An appealing feature of the proposed optimal filter is that it is not based on nD strip processing schemes. The filtering algorithm has a structure which is recursive both with respect to the point‐to‐point scanning procedure of the sampled field and to the dimensionality of the estimate computed at each point. This greatly reduces the numerical complexity of the filtering scheme. The filtering algorithm requires the knowledge of some statistical parameters of the random field. For a greater generality, a procedure for the adaptive estimation of these parameters is also provided. Numerical results are reported to illustrate the applicability and performance of the proposed filter. Copyright © 2006 John Wiley & Sons, Ltd.