A Unifying Approach to Quaternion Adaptive Filtering: Addressing the Gradient and Convergence

A novel framework for a unifying treatment of quaternion valued adaptive filtering algorithms is introduced. This is achieved based on a rigorous account of quaternion differentiability, the proposed I-gradient, and the use of augmented quaternion statistics to account for real world data with noncircular probability distributions. We first provide an elegant solution for the calculation of the gradient of real functions of quaternion variables (typical cost function), an issue that has so far prevented systematic development of quaternion adaptive filters. This makes it possible to unify the class of existing and proposed quaternion least mean square (QLMS) algorithms, and to illuminate their structural similarity. Next, in order to cater for both circular and noncircular data, the class of widely linear QLMS (WL-QLMS) algorithms is introduced and the subsequent convergence analysis unifies the treatment of strictly linear and widely linear filters, for both proper and improper sources. It is also shown that the proposed class of HR gradients allows us to resolve the uncertainty owing to the noncommutativity of quaternion products, while the involution gradient (I-gradient) provides generic extensions of the corresponding real- and complex-valued adaptive algorithms, at a reduced computational cost. Simulations in both the strictly linear and widely linear setting support the approach

Tracking analysis of minimum kernel risk-sensitive loss algorithm under general non-Gaussian noise

In this paper the steady-state tracking performance of minimum kernel risk-sensitive loss (MKRSL) in a non-stationary environment is analyzed. In order to model a non-stationary environment, a first-order random-walk model is used to describe the variations of optimum weight vector over time. Moreover, the measurement noise is considered to have non-Gaussian distribution. The energy conservation relation is utilized to extract an approximate closed-form expression for the steady-state excess mean square error (EMSE). Our analysis shows that unlike for the stationary case, the EMSE curve is not an increasing function of step-size parameter. Hence, the optimum step-size which minimizes the EMSE is derived. We also discuss that our approach can be used to extract steady-state EMSE for a general class of adaptive filters. The simulation results with different noise distributions support the theoretical derivations

Distributed Recursive Least-Squares: Stability and Performance Analysis

The recursive least-squares (RLS) algorithm has well-documented merits for reducing complexity and storage requirements, when it comes to online estimation of stationary signals as well as for tracking slowly-varying nonstationary processes. In this paper, a distributed recursive least-squares (D-RLS) algorithm is developed for cooperative estimation using ad hoc wireless sensor networks. Distributed iterations are obtained by minimizing a separable reformulation of the exponentially-weighted least-squares cost, using the alternating-minimization algorithm. Sensors carry out reduced-complexity tasks locally, and exchange messages with one-hop neighbors to consent on the network-wide estimates adaptively. A steady-state mean-square error (MSE) performance analysis of D-RLS is conducted, by studying a stochastically-driven `averaged' system that approximates the D-RLS dynamics asymptotically in time. For sensor observations that are linearly related to the time-invariant parameter vector sought, the simplifying independence setting assumptions facilitate deriving accurate closed-form expressions for the MSE steady-state values. The problems of mean- and MSE-sense stability of D-RLS are also investigated, and easily-checkable sufficient conditions are derived under which a steady-state is attained. Without resorting to diminishing step-sizes which compromise the tracking ability of D-RLS, stability ensures that per sensor estimates hover inside a ball of finite radius centered at the true parameter vector, with high-probability, even when inter-sensor communication links are noisy. Interestingly, computer simulations demonstrate that the theoretical findings are accurate also in the pragmatic settings whereby sensors acquire temporally-correlated data.Comment: 30 pages, 4 figures, submitted to IEEE Transactions on Signal Processin

Adaptive control of a boost-buck converter for thermoelectric generators

Thermoelectric generators (TEGs) are used to recover waste heat of the exhaust gas and convert it into electric energy in automotive applications. The temperature of the waste heat influences the voltage and internal resistor of a TEG. For the electric linking of TEGs to the on-board power supply, a DC-DC converter may be used. The control of the DC-DC converter must be robust against dynamic changes and additionally has to track the maximum power point (MPP) of the TEG. This paper presents a digital cascade controller for a boost-buck converter to charge a vehicle battery and to supply the load. To track the MPP, a hill climbing (HC) algorithm is implemented, which is also used for photovoltaics. The conversion time of the HC is minimized with an adaptive step size. Width variations of electric parameters of TEG influence the dynamic and stability of the controllers. With a closed loop identification, the parameter variation is estimated, and the control parameters can be redesigned. An experimental result show the efficiency of the adaptive control.BMBF, 03X3553E, Thermoelektrische Generatoren 202