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. 2025 Dec 10;10(12):828. doi: 10.3390/biomimetics10120828
Algorithm 1 Summary of proposed HSAF–APA–Fair algorithm with adaptive step-size approach
Initial value: w˜(0)=[10⋯0]T
q˜i,n(0)=[10⋯0]T and ϱ=1×10−7
Fixed parameter: 0<α<1
For n=1,2,…,N
  1. To calculate sn as
    sn=un,1TCq˜i,n,sn=snsn−1…sn−N+1T
  2. To compute un and i as
    un=un3un2un1Tun=xnΔx−xnΔxi=xnΔx+Q−12
  3. To compute e˜n as
    e˜n=dn−w˜n−1Tsn
  4. To determine q˜i,n as:
    q˜i,n=q˜i,n−1+μ˜qnXnXnTαunTCw˜ne˜nα + |e˜n|Xn=xnxn−1…xn−N+1
  5. To obtain μ˜qn as
    μ˜qn=βqμ˜qn−1+ρqgqn−1Tgqnζn2gqn=ψgqn−1+(1−ψ)unTCw˜ne˜nζn=σζn−1+(1−σ)e˜n2
  6. To calculate w˜n
    w˜n=w˜n−1+μ˜wnSnSnTαsne˜nα + |e˜n|Sn=snsn−1…sn−N+1
  7. To obtain μ˜wn as
    μ˜wn=βwμ˜wn−1+ρwgwn−1Tgwnζn2gwn=ψgwn−1+(1−ψ)sne˜n
end