Multivariable feedback particle filter

Tao Yang, Richard S. Laugesen, Prashant G. Mehta, Sean P. Meyn

Research output: Contribution to journalConference article

Abstract

In recent work it is shown that importance sampling can be avoided in the particle filter through an innovation structure inspired by traditional nonlinear filtering combined with Mean-Field Game formalisms [9], [19]. The resulting feedback particle filter (FPF) offers significant variance improvements; in particular, the algorithm can be applied to systems that are not stable. The filter comes with an up-front computational cost to obtain the filter gain. This paper describes new representations and algorithms to compute the gain in the general multivariable setting. The main contributions are, (i) Theory surrounding the FPF is improved: Consistency is established in the multivariate setting, as well as well-posedness of the associated PDE to obtain the filter gain. (ii) The gain can be expressed as the gradient of a function, which is precisely the solution to Poisson's equation for a related MCMC diffusion (the Smoluchowski equation). This provides a bridge to MCMC as well as to approximate optimal filtering approaches such as TD-learning, which can in turn be used to approximate the gain. (iii) Motivated by a weak formulation of Poisson's equation, a Galerkin finite-element algorithm is proposed for approximation of the gain. Its performance is illustrated in numerical experiments.

Original languageEnglish (US)
Article number6425937
Pages (from-to)4063-4070
Number of pages8
JournalProceedings of the IEEE Conference on Decision and Control
DOIs
StatePublished - 2012
Event51st IEEE Conference on Decision and Control, CDC 2012 - Maui, HI, United States
Duration: Dec 10 2012Dec 13 2012

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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