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1. Adaptive RKHS-based functional estimation of structurally perturbed second order infinite dimensional systems

   https://doi.org/10.1109/CDC51059.2022.9992577  

   Demetriou, Michael A. ( December 2022 , 2022 IEEE 61st Conference on Decision and Control (CDC))

   . (Ed.)

   This paper proposes a new approach for the adaptive functional estimation of second order infinite dimensional systems with structured perturbations. First, the proposed observer is formulated in the natural second order setting thus ensuring the time derivative of the estimated position is the estimated velocity, and therefore called natural adaptive observer. Assuming that the system does not yield a positive real system when placed in first order form, then the next step in deriving parameter adaptive laws is to assume a form of input-output collocation. Finally, to estimate structured perturbations taking the form of functions of the position and/or velocity outputs, the parameter space is not identified by a finite dimensional Euclidean space but instead is considered in a Reproducing Kernel Hilbert Space. Such a setting allows one not to be restricted by a priori assumptions on the dimension of the parameter spaces. Convergence of the position and velocity errors in their respective norms is established via the use of a parameter-dependent Lyapunov function, specifically formulated for second order infinite dimensional systems that include appropriately defined norms of the functional errors in the reproducing kernel Hilbert spaces. Boundedness of the functional estimates immediately follow and via an appropriate definition of a persistence of excitation condition for functional estimation, a functional convergence follows. When the system is governed by vector second order dynamics, all abstract spaces for the state evolution collapse to a Euclidean space and the natural adaptive observer results simplify. Numerical results of a second order PDE and a multi-degree of freedom finite dimensional mechanical system are presented. 

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2. Efficient and Adaptive Decentralized Sparse Gaussian Process Regression for Environmental Sampling Using Autonomous Vehicles

   Norton, Tanner A. ( June 2022 , BYU Scholars Archive)

   In this thesis, I present a decentralized sparse Gaussian process regression (DSGPR) model with event-triggered, adaptive inducing points. This DSGPR model brings the advantages of sparse Gaussian process regression to a decentralized implementation. Being decentralized and sparse provides advantages that are ideal for multi-agent systems (MASs) performing environmental modeling. In this case, MASs need to model large amounts of information while having potential intermittent communication connections. Additionally, the model needs to correctly perform uncertainty propagation between autonomous agents and ensure high accuracy on the prediction. For the model to meet these requirements, a bounded and efficient real-time sparse Gaussian process regression (SGPR) model is needed. I improve real-time SGPR models in these regards by introducing an adaptation of the mean shift and fixed-width clustering algorithms called radial clustering. Radial clustering enables real-time SGPR models to have an adaptive number of inducing points through an efficient inducing point selection process. I show how this clustering approach scales better than other seminal Gaussian process regression (GPR) and SGPR models for real-time purposes while attaining similar prediction accuracy and uncertainty reduction performance. Furthermore, this thesis addresses common issues inherent in decentralized frameworks such as high computation costs, inter-agent message bandwidth restrictions, and data fusion integrity. These challenges are addressed in part through performing maximum consensus between local agent models which enables the MAS to gain the advantages of decentralization while keeping data fusion integrity. The inter-agent communication restrictions are addressed through the contribution of two message passing heuristics called the covariance reduction heuristic and the Bhattacharyya distance heuristic. These heuristics enable user to reduce message passing frequency and message size through the Bhattacharyya distance and properties of spatial kernels. The entire DSGPR framework is evaluated on multiple simulated random vector fields. The results show that this framework effectively estimates vector fields using multiple autonomous agents. This vector field is assumed to be a wind field; however, this framework may be applied to the estimation of other scalar or vector fields (e.g., fluids, magnetic fields, electricity, etc.). Keywords: Sparse Gaussian process regression, clustering, event-triggered, decentralized, sensor fusion, uncertainty propagation, inducing points 

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3. Stable nullspace adaptive parameter identification of 6 degree-of-freedom plant and actuator models for underactuated vehicles: Theory and experimental evaluation

   https://doi.org/10.1177/02783649231191184  

   Harris, Zachary J. ; Mao, Annie M. ; Paine, Tyler M. ; Whitcomb, Louis L. ( November 2023 , The International Journal of Robotics Research)

   Model-based approaches to navigation, control, and fault detection that utilize precise nonlinear models of vehicle plant dynamics will enable more accurate control and navigation, assured autonomy, and more complex missions for such vehicles. This paper reports novel theoretical and experimental results addressing the problem of parameter estimation of plant and actuator models for underactuated underwater vehicles operating in 6 degrees-of-freedom (DOF) whose dynamics are modeled by finite-dimensional Newton-Euler equations. This paper reports the first theoretical approach and experimental validation to identify simultaneously plant-model parameters (parameters such as mass, added mass, hydrodynamic drag, and buoyancy) and control-actuator parameters (control-surface models and thruster models) in 6-DOF. Most previously reported studies on parameter identification assume that the control-actuator parameters are known a priori. Moreover, this paper reports the first proof of convergence of the parameter estimates to the true set of parameters for this class of vehicles under a persistence of excitation condition. The reported adaptive identification (AID) algorithm does not require instrumentation of 6-DOF vehicle acceleration, which is required by conventional approaches to parameter estimation such as least squares. Additionally, the reported AID algorithm is applicable under any arbitrary open-loop or closed-loop control law. We report simulation and experimental results for identifying the plant-model and control-actuator parameters for an L3 OceanServer Iver3 autonomous underwater vehicle. We believe this general approach to AID could be extended to apply to other classes of machines and other classes of marine, land, aerial, and space vehicles.

    

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4. Cooperative Filtering and Parameter Identification for Advection–Diffusion Processes Using a Mobile Sensor Network

   https://doi.org/10.1109/TCST.2022.3183585  

   You, Jie ; Zhang, Ziqiao ; Zhang, Fumin ; Wu, Wencen ( June 2022 , IEEE Transactions on Control Systems Technology)

   This article presents an online parameter identification scheme for advection-diffusion processes using data collected by a mobile sensor network. The advection-diffusion equation is incorporated into the information dynamics associated with the trajectories of the mobile sensors. A constrained cooperative Kalman filter is developed to provide estimates of the field values and gradients along the trajectories of the mobile sensors so that the temporal variations in the field values can be estimated. This leads to a co-design scheme for state estimation and parameter identification for advection-diffusion processes that is different from comparable schemes using sensors installed at fixed spatial locations. Using state estimates from the constrained cooperative Kalman filter, a recursive least-square (RLS) algorithm is designed to estimate unknown model parameters of the advection-diffusion processes. Theoretical justifications are provided for the convergence of the proposed cooperative Kalman filter by deriving a set of sufficient conditions regarding the formation shape and the motion of the mobile sensor network. Simulation and experimental results show satisfactory performance and demonstrate the robustness of the algorithm under realistic uncertainties and disturbances. 

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5. Spatially Variable Advection Correction of Doppler Radial Velocity Data

   https://doi.org/10.1175/JAS-D-20-0048.1  

   Shapiro, Alan ; Gebauer, Joshua G. ; Dahl, Nathan A. ; Bodine, David J. ; Mahre, Andrew ; Potvin, Corey K. ( January 2021 , Journal of the Atmospheric Sciences)

   null (Ed.)

   Abstract Techniques to mitigate analysis errors arising from the nonsimultaneity of data collections typically use advection-correction procedures based on the hypothesis (frozen turbulence) that the analyzed field can be represented as a pattern of unchanging form in horizontal translation. It is more difficult to advection correct the radial velocity than the reflectivity because even if the vector velocity field satisfies this hypothesis, its radial component does not—but that component does satisfy a second-derivative condition. We treat the advection correction of the radial velocity ( υ r ) as a variational problem in which errors in that second-derivative condition are minimized subject to smoothness constraints on spatially variable pattern-translation components ( U , V ). The Euler–Lagrange equations are derived, and an iterative trajectory-based solution is developed in which U , V , and υ r are analyzed together. The analysis code is first verified using analytical data, and then tested using Atmospheric Imaging Radar (AIR) data from a band of heavy rainfall on 4 September 2018 near El Reno, Oklahoma, and a decaying tornado on 27 May 2015 near Canadian, Texas. In both cases, the analyzed υ r field has smaller root-mean-square errors and larger correlation coefficients than in analyses based on persistence, linear time interpolation, or advection correction using constant U and V . As some experimentation is needed to obtain appropriate parameter values, the procedure is more suitable for non-real-time applications than use in an operational setting. In particular, the degree of spatial variability in U and V , and the associated errors in the analyzed υ r field are strongly dependent on a smoothness parameter. 

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