Gradient free cooperative seeking of a moving source

DOI10.1016/J.AUTOMATICA.2023.110948MaRDI QIDQ6103010zbMATHFDO

Authors Elad Michael, Chris Manzie, Tony A. Wood, Daniel Zelazo, Iman Shames

Publication date 26 June 2023

Published in Automatica (Search for Journal in Brave)

Copyright license Creative Commons Attribution 4.0 International

Full work available at URL https://arxiv.org/abs/2201.00446

zbMATH Keywords

extremum seekingmulti-agent systemstrackingoptimisation under uncertaintydecentralisation

Mathematics Subject Classification ID

Decentralized systems (93A14) Multi-agent systems (93A16) Networked control (93B70)

Abstract: In this paper, we consider the optimisation of a time varying scalar field by a network of agents with no gradient information. We propose a composite control law, blending extremum seeking with formation control in order to converge to the extrema faster by minimising the gradient estimation error. By formalising the relationship between the formation and the gradient estimation error, we provide a novel analysis to prove the convergence of the network to a bounded neighbourhood of the field's time varying extrema. We assume the time-varying field satisfies the Polyak Lojasiewicz inequality and the gradient is Lipschitz continuous at each iteration. Numerical studies and comparisons are provided to support the theoretical results.

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Cited in

(3)

• Multi-agent source seeking via discrete-time extremum seeking control
• Stochastic time-varying extremum seeking and its applications
• Cooperative source seeking via networked multi-vehicle systems

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