Sufficient Conditions for Parameter Convergence Over Embedded Manifolds Using Kernel Techniques
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Publication:6092984
Abstract: The persistence of excitation (PE) condition is sufficient to ensure parameter convergence in adaptive estimation problems. Recent results on adaptive estimation in reproducing kernel Hilbert spaces (RKHS) introduce PE conditions for RKHS. This paper presents sufficient conditions for PE for the particular class of uniformly embedded reproducing kernel Hilbert spaces (RKHS) defined over smooth Riemannian manifolds. This paper also studies the implications of the sufficient condition in the case when the RKHS is finite or infinite-dimensional. When the RKHS is finite-dimensional, the sufficient condition implies parameter convergence as in the conventional analysis. On the other hand, when the RKHS is infinite-dimensional, the same condition implies that the function estimate error is ultimately bounded by a constant that depends on the approximation error in the infinite-dimensional RKHS. We illustrate the effectiveness of the sufficient condition in a practical example.
Cited in
(4)- Dynamical pattern recognition for univariate time series and its application to an axial compressor
- Learning from output-feedback control of sampled-data systems in normal form
- Robust model reference adaptive control based on reproducing kernel Hilbert spaces
- Perturbed kernel approximation on homogeneous manifolds
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