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This content will become publicly available on November 16, 2014

Title: Extremum seeking with bounded update rates

In this work, we present a form of extremum seeking (ES) in which the unknown function being minimized enters the system’s dynamics as the argument of a cosine or sine term, thereby guaranteeing known bounds on update rates and control efforts. We present general n-dimensional optimization and stabilization results as well as 2D vehicle control, with bounded velocity and control efforts. For application to autonomous vehicles, tracking a source in a GPS denied environment with unknown orientation, this ES approach allows for smooth heading angle actuation, with constant velocity, and in application to a unicycle-type vehicle results in control ability as if the vehicle is fully actuated. Our stability analysis is made possible by the classic results of Kurzweil, Jarnik, Sussmann, and Liu, regarding systems with highly oscillatory terms. In our stability analysis, we combine the averaging results with a semi-global practical stability result under small parametric perturbations developed by Moreau and Aeyels.
 [1] ;  [2]
  1. Los Alamos National Lab. (LANL), Los Alamos, NM (United States). RF Control Group
  2. Univ. of California, San Diego, La Jolla, CA (United States). Dept. of Mechanical and Aerospace Engineering
Publication Date:
OSTI Identifier:
Report Number(s):
Journal ID: ISSN 0167-6911; PII: S0167691113002120
Grant/Contract Number:
Accepted Manuscript
Journal Name:
Systems & Control Letters
Additional Journal Information:
Journal Volume: 63; Journal Issue: C; Journal ID: ISSN 0167-6911
Research Org:
Los Alamos National Lab. (LANL), Los Alamos, NM (United States)
Sponsoring Org:
Country of Publication:
United States
97 MATHEMATICS AND COMPUTING; adaptive control; extremum seeking; autonomous agents; distributed optimization