文章基本信息

标题：Extremum Seeking Approach for Nonholonomic Systems with Multiple Time Scale Dynamics ⁎
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作者：Victoria Grushkovskaya ; Alexander Zuyev
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2020
卷号：53
期号：2
页码：5392-5398
DOI：10.1016/j.ifacol.2020.12.1529
语种：English
出版社：Elsevier
摘要：AbstractIn this paper, a class of nonlinear driftless control-affine systems satisfying the bracket generating condition is considered. A gradient-free optimization algorithm is developed for the minimization of a cost function along the trajectories of the controlled system. The algorithm comprises an approximation scheme with fast oscillating controls for the nonholonomic dynamics and a model-free extremum seeking component with respect to the output measurements. Exponential convergence of the trajectories to an arbitrary neighborhood of the optimal point is established under suitable assumptions on time scale parameters of the extended system. The proposed algorithm is tested numerically with the Brockett integrator for different choices of generating functions.
关键词：Keywordsnonholonomic systemsextremum seekingstability of nonlinear systemsoutput feedback controlLyapunov methods