2 research outputs found
Supporting Lemmas for RISE-based Control Methods
A class of continuous controllers termed Robust Integral of the Signum of the
Error (RISE) have been published over the last decade as a means to yield
asymptotic convergence of the tracking error for classes of nonlinear systems
that are subject to exogenous disturbances and/or modeling uncertainties. The
development of this class of controllers relies on a property related to the
integral of the signum of an error signal. A proof for this property is not
available in previous literature. The stability of some RISE controllers is
analyzed using differential inclusions. Such results rely on the hypothesis
that a set of points is Lebesgue negligible. This paper states and proves two
lemmas related to the properties
Robust Online Model Adaptation by Extended Kalman Filter with Exponential Moving Average and Dynamic Multi-Epoch Strategy
High fidelity behavior prediction of intelligent agents is critical in many
applications. However, the prediction model trained on the training set may not
generalize to the testing set due to domain shift and time variance. The
challenge motivates the adoption of online adaptation algorithms to update
prediction models in real-time to improve the prediction performance. Inspired
by Extended Kalman Filter (EKF), this paper introduces a series of online
adaptation methods, which are applicable to neural network-based models. A base
adaptation algorithm Modified EKF with forgetting factor (MEKF) is
introduced first, followed by exponential moving average filtering techniques.
Then this paper introduces a dynamic multi-epoch update strategy to effectively
utilize samples received in real time. With all these extensions, we propose a
robust online adaptation algorithm: MEKF with Exponential Moving Average and
Dynamic Multi-Epoch strategy (MEKF). The proposed algorithm
outperforms existing methods as demonstrated in experiments. The source code is
open-sourced in the following link
https://github.com/intelligent-control-lab/MEKF_MAME.Comment: 2nd Annual Conference on Learning for Dynamics and Contro