A technique for improved stability of adaptive feedforward controllers without detailed uncertainty measurements

Model errors in adaptive controllers for reduction of broadband noise and vibrations may lead to unstable systems or increased error signals. Previous work has shown that the addition of a low-authority controller that increases damping in the system may lead to improved performance of an adaptive, high-authority controller. Other researchers have suggested to use frequency dependent regularization based on measured uncertainties. In this paper an alternative method is presented that avoids the disadvantages of these methods namely the additional complex hardware, and the need to obtain detailed information of the uncertainties. An analysis is made of an active noise control system in which a difference exists between the secondary path and the model as used in the controller. The real parts of the eigenvalues that determine the stability of the system are expressed in terms of the amount of uncertainty and the singular values of the secondary path. Based on these expressions, modifications of the feedforward control scheme are suggested that aim to improved performance without requiring detailed uncertainty measurements. For an active noise control system in a room it is shown that the technique leads to improved performance in terms of robustness and the amount of reduction of the error signals

Estimation-based synthesis of H∞-optimal adaptive FIR filtersfor filtered-LMS problems

This paper presents a systematic synthesis procedure for H∞-optimal adaptive FIR filters in the context of an active noise cancellation (ANC) problem. An estimation interpretation of the adaptive control problem is introduced first. Based on this interpretation, an H∞ estimation problem is formulated, and its finite horizon prediction (filtering) solution is discussed. The solution minimizes the maximum energy gain from the disturbances to the predicted (filtered) estimation error and serves as the adaptation criterion for the weight vector in the adaptive FIR filter. We refer to this adaptation scheme as estimation-based adaptive filtering (EBAF). We show that the steady-state gain vector in the EBAF algorithm approaches that of the classical (normalized) filtered-X LMS algorithm. The error terms, however, are shown to be different. Thus, these classical algorithms can be considered to be approximations of our algorithm. We examine the performance of the proposed EBAF algorithm (both experimentally and in simulation) in an active noise cancellation problem of a one-dimensional (1-D) acoustic duct for both narrowband and broadband cases. Comparisons to the results from a conventional filtered-LMS (FxLMS) algorithm show faster convergence without compromising steady-state performance and/or robustness of the algorithm to feedback contamination of the reference signal

Active Noise Control with Sampled-Data Filtered-x Adaptive Algorithm

Analysis and design of filtered-x adaptive algorithms are conventionally done by assuming that the transfer function in the secondary path is a discrete-time system. However, in real systems such as active noise control, the secondary path is a continuous-time system. Therefore, such a system should be analyzed and designed as a hybrid system including discrete- and continuous- time systems and AD/DA devices. In this article, we propose a hybrid design taking account of continuous-time behavior of the secondary path via lifting (continuous-time polyphase decomposition) technique in sampled-data control theory

Adaptive cancelation of self-generated sensory signals in a whisking robot

Sensory signals are often caused by one's own active movements. This raises a problem of discriminating between self-generated sensory signals and signals generated by the external world. Such discrimination is of general importance for robotic systems, where operational robustness is dependent on the correct interpretation of sensory signals. Here, we investigate this problem in the context of a whiskered robot. The whisker sensory signal comprises two components: one due to contact with an object (externally generated) and another due to active movement of the whisker (self-generated). We propose a solution to this discrimination problem based on adaptive noise cancelation, where the robot learns to predict the sensory consequences of its own movements using an adaptive filter. The filter inputs (copy of motor commands) are transformed by Laguerre functions instead of the often-used tapped-delay line, which reduces model order and, therefore, computational complexity. Results from a contact-detection task demonstrate that false positives are significantly reduced using the proposed scheme

Online identification and nonlinear control of the electrically stimulated quadriceps muscle

A new approach for estimating nonlinear models of the electrically stimulated quadriceps muscle group under nonisometric conditions is investigated. The model can be used for designing controlled neuro-prostheses. In order to identify the muscle dynamics (stimulation pulsewidth-active knee moment relation) from discrete-time angle measurements only, a hybrid model structure is postulated for the shank-quadriceps dynamics. The model consists of a relatively well known time-invariant passive component and an uncertain time-variant active component. Rigid body dynamics, described by the Equation of Motion (EoM), and passive joint properties form the time-invariant part. The actuator, i.e. the electrically stimulated muscle group, represents the uncertain time-varying section. A recursive algorithm is outlined for identifying online the stimulated quadriceps muscle group. The algorithm requires EoM and passive joint characteristics to be known a priori. The muscle dynamics represent the product of a continuous-time nonlinear activation dynamics and a nonlinear static contraction function described by a Normalised Radial Basis Function (NRBF) network which has knee-joint angle and angular velocity as input arguments. An Extended Kalman Filter (EKF) approach is chosen to estimate muscle dynamics parameters and to obtain full state estimates of the shank-quadriceps dynamics simultaneously. The latter is important for implementing state feedback controllers. A nonlinear state feedback controller using the backstepping method is explicitly designed whereas the model was identified a priori using the developed identification procedure

Adaptive Neural Coding Dependent on the Time-Varying Statistics of the Somatic Input Current

It is generally assumed that nerve cells optimize their performance to reflect the statistics of their input. Electronic circuit analogs of neurons require similar methods of self-optimization for stable and autonomous operation. We here describe and demonstrate a biologically plausible adaptive algorithm that enables a neuron to adapt the current threshold and the slope (or gain) of its current-frequency relationship to match the mean (or dc offset) and variance (or dynamic range or contrast) of the time-varying somatic input current. The adaptation algorithm estimates the somatic current signal from the spike train by way of the intracellular somatic calcium concentration, thereby continuously adjusting the neuronś firing dynamics. This principle is shown to work in an analog VLSI-designed silicon neuron