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Title: Distributed extremum seeking and formation control for nonholonomic mobile network

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Journal Article: Publisher's Accepted Manuscript
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Systems & Control Letters
Additional Journal Information:
Journal Volume: 75; Journal Issue: C; Related Information: CHORUS Timestamp: 2017-06-21 21:32:17; Journal ID: ISSN 0167-6911
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Li, Chaoyong, Qu, Zhihua, and Weitnauer, Mary Ann. Distributed extremum seeking and formation control for nonholonomic mobile network. Netherlands: N. p., 2015. Web. doi:10.1016/j.sysconle.2014.11.005.
Li, Chaoyong, Qu, Zhihua, & Weitnauer, Mary Ann. Distributed extremum seeking and formation control for nonholonomic mobile network. Netherlands. doi:10.1016/j.sysconle.2014.11.005.
Li, Chaoyong, Qu, Zhihua, and Weitnauer, Mary Ann. 2015. "Distributed extremum seeking and formation control for nonholonomic mobile network". Netherlands. doi:10.1016/j.sysconle.2014.11.005.
title = {Distributed extremum seeking and formation control for nonholonomic mobile network},
author = {Li, Chaoyong and Qu, Zhihua and Weitnauer, Mary Ann},
abstractNote = {},
doi = {10.1016/j.sysconle.2014.11.005},
journal = {Systems & Control Letters},
number = C,
volume = 75,
place = {Netherlands},
year = 2015,
month = 1

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Free Publicly Available Full Text
Publisher's Version of Record at 10.1016/j.sysconle.2014.11.005

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Cited by: 11works
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  • Here, we study control of the angular-velocity actuated nonholonomic unicycle, via a simple, bounded extremum seeking controller which is robust to external disturbances and measurement noise. The vehicle performs source seeking despite not having any position information about itself or the source, able only to sense a noise corrupted scalar value whose extremum coincides with the unknown source location. In order to control the angular velocity, rather than the angular heading directly, a controller is developed such that the closed loop system exhibits multiple time scales and requires an analysis approach expanding the previous work of Kurzweil, Jarnik, Sussmann, andmore » Liu, utilizing weak limits. We provide analytic proof of stability and demonstrate how this simple scheme can be extended to include position-independent source seeking, tracking, and collision avoidance of groups on autonomous vehicles in GPS-denied environments, based only on a measure of distance to an obstacle, which is an especially important feature for an autonomous agent.« less
  • Progress in the development and study of new electric energy generation methods, based on direct conversion of heat energy, raises the problem of more effective use of their power characteristics. A self-optimizing control system for an object with a unimodal quality function has been developed. The system consists of the object, a divider, a band-pass filter, an averaging filter, a multiplier, a final control element, an adder, and a search signal generator.
  • The matching problem for a low energy transport system in a charged particle accelerator is approached using the extremum seeking method for non-model based optimization and adaptive control. The beam dynamics used for numerical simulations are given by the KV (Kapchinsky-Vladimirsky) envelope equations. Extremum seeking is employed for the lens tuning in both a matching and a periodic channel. Numerical simulations illustrate the effectiveness of this approach.
  • A recently developed form of extremum seeking for time-varying systems is implemented in hardware for the resonance control of radio-frequency cavities without phase measurements. Normal conducting RF cavity resonance control is performed via a slug tuner, while superconducting TESLA-type cavity resonance control is performed via piezo actuators. The controller maintains resonance by minimizing reflected power by utilizing model-independent adaptive feedback. Unlike standard phase-measurement-based resonance control, the presented approach is not sensitive to arbitrary phase shifts of the RF signals due to temperature-dependent cable length or phasemeasurement hardware changes. The phase independence of this method removes common slowly varying drifts andmore » required periodic recalibration of phase-based methods. A general overview of the adaptive controller is presented along with the proof of principle experimental results at room temperature. Lastly, this method allows us to both maintain a cavity at a desired resonance frequency and also to dynamically modify its resonance frequency to track the unknown time-varying frequency of an RF source, thereby maintaining maximal cavity field strength, based only on power-level measurements.« less