We consider the problem of seeking the source of a scalar signal using an rotorcraft UAV and drive the UAV to the location of the signal source without steady-state oscillation. The UAV equip with a sensor of that scalar signal but not processing the capability to sense either the position of the source nor its own position. This signal field may represent the strength of a spatially distributed signal. We assume that the signal field is the strongest at the source and decays away from it but the functional form of the field is not available to our UAV. We employ extremum seeking to estimate the gradient of the field in real time and drive the UAV to the location where the field distribution attains its maximum. This paper mainly presents a kind of ESA without steady-state oscillation and study its stability and its application deeply. The main contribution of the dissertation can be summarized as follows: (1) The relationships between the performances and the algorithm parameters are analyzed deeply for the perturbation-based ESA. (2) A pre-demodulation ESA without steady-state oscillation is proposed by adjusting the structure of the classical ESA to make the sinusoidal excitation signal amplitude proportional to the square of the extremum estimation error.


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    Title :

    Source seeking of UAV via adaptive extremum seeking without steady-state oscillation


    Contributors:
    Zhuo, Shuo (author) / Li, Chaoyong (author) / Chen, Sai (author)


    Publication date :

    2017-10-01


    Size :

    572803 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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