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Rao-Blackwellized Particle Smoothers for Mixed Linear/Nonlinear State-Space Models
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
University of Cambridge, United Kingdom.
University of Cambridge, United Kingdom.
Linköping University, Department of Electrical Engineering, Automatic Control. Linköping University, The Institute of Technology.
2013 (English)In: Proceedings of the 38th International Conference on Acoustics, Speech, and Signal Processing, IEEE conference proceedings, 2013, 6288-6292 p.Conference paper, Published paper (Refereed)
Abstract [en]

We consider the smoothing problem for a class of conditionally linear Gaussian state-space (CLGSS) models, referred to as mixed linear/nonlinear models. In contrast to the better studied hierarchical CLGSS models, these allow for an intricate cross dependence between the linear and the nonlinear parts of the state vector. We derive a Rao-Blackwellized particle smoother (RBPS) for this model class by exploiting its tractable substructure. The smoother is of the forward filtering/backward simulation type. A key feature of the proposed method is that, unlike existing RBPS for this model class, the linear part of the state vector is marginalized out in both the forward direction and in the backward direction.

Place, publisher, year, edition, pages
IEEE conference proceedings, 2013. 6288-6292 p.
Keyword [en]
Rao-Blackwellization, Particle smoothing, Backward simulation, Sequential Monte Carlo
National Category
Signal Processing Control Engineering
Identifiers
URN: urn:nbn:se:liu:diva-93460DOI: 10.1109/ICASSP.2013.6638875ISI: 000329611506090OAI: oai:DiVA.org:liu-93460DiVA: diva2:624911
Conference
38th International Conference on Acoustics, Speech, and Signal Processing, Vancouver, Canada, 26-31 May, 2013
Projects
CNDMCADICS
Funder
Swedish Research Council, 621-2010-5876
Available from: 2013-06-03 Created: 2013-06-03 Last updated: 2014-02-20Bibliographically approved
In thesis
1. Particle filters and Markov chains for learning of dynamical systems
Open this publication in new window or tab >>Particle filters and Markov chains for learning of dynamical systems
2013 (English)Doctoral thesis, comprehensive summary (Other academic)
Abstract [en]

Sequential Monte Carlo (SMC) and Markov chain Monte Carlo (MCMC) methods provide computational tools for systematic inference and learning in complex dynamical systems, such as nonlinear and non-Gaussian state-space models. This thesis builds upon several methodological advances within these classes of Monte Carlo methods.Particular emphasis is placed on the combination of SMC and MCMC in so called particle MCMC algorithms. These algorithms rely on SMC for generating samples from the often highly autocorrelated state-trajectory. A specific particle MCMC algorithm, referred to as particle Gibbs with ancestor sampling (PGAS), is suggested. By making use of backward sampling ideas, albeit implemented in a forward-only fashion, PGAS enjoys good mixing even when using seemingly few particles in the underlying SMC sampler. This results in a computationally competitive particle MCMC algorithm. As illustrated in this thesis, PGAS is a useful tool for both Bayesian and frequentistic parameter inference as well as for state smoothing. The PGAS sampler is successfully applied to the classical problem of Wiener system identification, and it is also used for inference in the challenging class of non-Markovian latent variable models.Many nonlinear models encountered in practice contain some tractable substructure. As a second problem considered in this thesis, we develop Monte Carlo methods capable of exploiting such substructures to obtain more accurate estimators than what is provided otherwise. For the filtering problem, this can be done by using the well known Rao-Blackwellized particle filter (RBPF). The RBPF is analysed in terms of asymptotic variance, resulting in an expression for the performance gain offered by Rao-Blackwellization. Furthermore, a Rao-Blackwellized particle smoother is derived, capable of addressing the smoothing problem in so called mixed linear/nonlinear state-space models. The idea of Rao-Blackwellization is also used to develop an online algorithm for Bayesian parameter inference in nonlinear state-space models with affine parameter dependencies.

Place, publisher, year, edition, pages
Linköping University Electronic Press, 2013. 42 p.
Series
Linköping Studies in Science and Technology. Dissertations, ISSN 0345-7524 ; 1530
Keyword
Bayesian learning, System identification, Sequential Monte Carlo, Markov chain Monte Carlo, Particle MCMC, Particle filters, Particle smoothers
National Category
Control Engineering Probability Theory and Statistics
Identifiers
urn:nbn:se:liu:diva-97692 (URN)10.3384/diss.diva-97692 (DOI)978-91-7519-559-9 (ISBN)
Public defence
2013-10-25, Visionen, Hus B, Campus Valla, Linköpings universitet, Linköping, 10:15 (English)
Opponent
Supervisors
Projects
CNDMCADICS
Funder
Swedish Research Council
Available from: 2013-10-08 Created: 2013-09-19 Last updated: 2013-10-08Bibliographically approved

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Citation style
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