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.
Bounded ES
2016-12-25
10 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch
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