文章基本信息

标题：Discrete-time Stochastic Source Seeking via Tuning of Forward Velocity *
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作者：Shu-Jun Liu ; Pei-Pei Zhang
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2015
卷号：48
期号：28
页码：927-932
DOI：10.1016/j.ifacol.2015.12.249
语种：English
出版社：Elsevier
摘要：AbstractWe apply the method of discrete-time stochastic extremum seeking to navigate an autonomous vehicle towards the maximum of an unknown, spatially distributed signal field. We assume that the information of the vehicle's position is unavailable. Only using the measurement of the signal at the vehicle's location, we design a control law with controlling the forward velocity and keeping the angular velocity constant. We firstly build a discrete-time vehicle model by discretizing the model of a continuous nonholonomic unicycle with the help of the definition of integration. Then, we design a discrete-time control law in which a discrete-time ergodic stochastic process is taken as the probing signal.We prove local exponential convergence, both almost surely and in probability, to a small neighborhood near the source. A numerical simulation is given to illustrate the effectiveness of the control law.
关键词：KeywordsSource SeekingDiscrete-timeNonholonomic Unicycle