Abstract In this chapter 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.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren




    Bounded Control Problems

    Longuski, James M. / Guzmán, José J. / Prussing, John E. | Springer Verlag | 2013



    Classification on bounded sets

    Teterin, A. N. | British Library Online Contents | 2010


    Transversely bounded DFB lasers

    Elachi, C. / Evans, G. / Yeh, C. | NTRS | 1975