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  • 标题:Exponential Stability for Extremum Seeking Control Systems
  • 本地全文:下载
  • 作者:Raik Suttner ; Sergey Dashkovskiy
  • 期刊名称:IFAC PapersOnLine
  • 印刷版ISSN:2405-8963
  • 出版年度:2017
  • 卷号:50
  • 期号:1
  • 页码:15464-15470
  • DOI:10.1016/j.ifacol.2017.08.2106
  • 语种:English
  • 出版社:Elsevier
  • 摘要:AbstractThis paper considers the problem of extremum seeking control for dynamical systems on smooth manifolds. We focus on the case in which the output of a system is determined by a real-valued function with a known minimum value. As an example, we study the problem of distance-based formation control. If only distance measurements are available, then the task of steering a multi-agent system to a target formation becomes an output optimization problem for a system whose precise state is unknown. We propose a control law that is not just capable of inducing practical stability but can lead to the full notion of exponential stability. Our approach is based on transfer of stability by convergence of trajectories of control affine systems. We present the underlying theory in the paper.
  • 关键词:Keywordsextremum seekingpractical stabilityexponential stabilityformation control
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