A family of extremum seeking laws for a unicycle model with a moving target: theoretical and experimental studies

A family of extremum seeking laws for a unicycle model with a moving target: theoretical and experimental studies
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DOI：
10.23919/ecc.2018.8550280
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发表时间：
2018-02
期刊：
2018 European Control Conference (ECC)
影响因子：
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通讯作者：
V. Grushkovskaya;Simon Michalowsky;A. Zuyev;Max May;C. Ebenbauer
V. Grushkovskaya;Simon Michalowsky;A. Zuyev;Max May;C. Ebenbauer
中科院分区：
其他
文献类型：
--
作者：
V. Grushkovskaya;Simon Michalowsky;A. Zuyev;Max May;C. Ebenbauer

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在本文中，我们提出并实际评估了一类无梯度控制函数，确保独轮型系统朝时变成本函数的极值点运动。我们证明独轮车能够跟踪极值点，并通过数值模拟和实验说明我们的结果，表明与基于李括号近似的标准极值搜索法则相比，所提出的控制函数表现出改进的跟踪性能。
In this paper, we propose and practically evaluate a class of gradient-free control functions ensuring the motion of a unicycle-type system towards the extremum point of a time- varying cost function. We prove that the unicycle is able to track the extremum point, and illustrate our results by numerical simulations and experiments that show that the proposed control functions exhibit an improved tracking performance in comparison to standard extremum seeking laws based on Lie bracket approximations.