文章基本信息

标题：Extremum seeking control for an acceleration controlled unicycle
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作者：Raik Suttner
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2019
卷号：52
期号：16
页码：676-681
DOI：10.1016/j.ifacol.2019.12.040
语种：English
出版社：Elsevier
摘要：We study the problem of source seeking with an acceleration controlled unicycle without position measurements. It is assumed that only real-time measurements of the source signal are available. The proposed control law is based on an approximation of the symmetric product of suitably chosen vector fields. The approximation of the symmetric product can be traced back to known averaging results for mechanical systems under vibrational control. Compared to known extremum seeking control laws by means of Lie bracket approximations, the proposed approach has the advantage that the velocity remains bounded in the high-frequency limit. We prove semi-global practical asymptotic stability for the acceleration-driven unicycle system under the proposed control law.
关键词：KeywordsExtremum seekingsource seekingautonomous mobile robotsvibrational controlaveragingsymmetric product