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Title: Bounded extremum seeking for angular velocity actuated control of nonholonomic unicycle

Abstract

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, and 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.

Authors:
 [1]
  1. Los Alamos National Lab. (LANL), Los Alamos, NM (United States)
Publication Date:
Research Org.:
Los Alamos National Lab. (LANL), Los Alamos, NM (United States)
Sponsoring Org.:
USDOE
OSTI Identifier:
1329912
Report Number(s):
LA-UR-16-27104
Journal ID: ISSN 0143-2087
Grant/Contract Number:  
AC52-06NA25396
Resource Type:
Accepted Manuscript
Journal Name:
Optimal Control Applications and Methods
Additional Journal Information:
Journal Name: Optimal Control Applications and Methods; Journal ID: ISSN 0143-2087
Publisher:
Wiley
Country of Publication:
United States
Language:
English
Subject:
33 ADVANCED PROPULSION SYSTEMS; 97 MATHEMATICS AND COMPUTING; mathematics; nonlinear; robust; extremum seeking; autonomous systems

Citation Formats

Scheinker, Alexander. Bounded extremum seeking for angular velocity actuated control of nonholonomic unicycle. United States: N. p., 2016. Web. doi:10.1002/oca.2272.
Scheinker, Alexander. Bounded extremum seeking for angular velocity actuated control of nonholonomic unicycle. United States. doi:10.1002/oca.2272.
Scheinker, Alexander. Wed . "Bounded extremum seeking for angular velocity actuated control of nonholonomic unicycle". United States. doi:10.1002/oca.2272. https://www.osti.gov/servlets/purl/1329912.
@article{osti_1329912,
title = {Bounded extremum seeking for angular velocity actuated control of nonholonomic unicycle},
author = {Scheinker, Alexander},
abstractNote = {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, and 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.},
doi = {10.1002/oca.2272},
journal = {Optimal Control Applications and Methods},
number = ,
volume = ,
place = {United States},
year = {2016},
month = {8}
}

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Works referenced in this record:

Extremum seeking with bounded update rates
journal, January 2014


In-hardware demonstration of model-independent adaptive tuning of noisy systems with arbitrary phase drift
journal, August 2014

  • Scheinker, Alexander; Baily, Scott; Young, Daniel
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Design and simulation of extremum-seeking open-loop optimal control of current profile in the DIII-D tokamak
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  • Scheinker, Alexander; Krstic, Miroslav
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Bounded extremum seeking with discontinuous dithers
journal, July 2016