Extremum-seeking control and applications. A numerical optimization-based approach
Extremum-Seeking Control (ESC) tracks a varying maximum or minimum in a performance function such as a cost. It attempts to determine the optimal performance of a control system as it operates, thereby reducing downtime and the need for system analysis. To place ESC in the context of the systems and control literature at large the authors note that ESC is highly related to both Traditional Optimal Control (TOC) and Model Predictive Control (MPC). In TOC problems, the performance function generally is an integral function of the state and control, and the extremum is a trajectory. Therefore, calculus of variations is involved in the design, and the analytical form of the performance function is needed to obtain necessary conditions of the optimal control. Related to optimal control, MPC is a widely applied advanced control method, where the control input at each step is obtained by solving an optimization problem. In this case, the optimization objective is to try to approximate an optimal trajectory in the context of optimal control using numerical optimization algorithms. The common thread between the three control approaches (TOC, MPC and ESC) is that they all try to solve the problem \(\min J(\cdot)\) subject to \(\dot x=f(x,u)\), where \(J\) is a cost function that may depend on states, control input, time, initial and final values. In order to solve this problem, both TOC and MPC methods generally assume that the function \(J\) is perfectly known. However, in ESC the performance function is generally a function of the state and is unknown or poorly known in the design -- and it is often a feature of the control problem itself. This lack of knowledge implies that one can only design an extremum seeking controller based on measurements of the performance function or its derivatives, if available. The monograph is divided into two parts. In the first, the authors review existing analog-optimization-based ESC including gradient-, perturbation- and sliding-mode-based control designs. They then propose a novel numerical-optimization-based ESC using optimization algorithms and state regulation. This control design is developed for simple linear time-invariant systems and then extended for a class of feedback linearizable nonlinear systems. The two main optimization algorithms -- line search and trust region methods -- are analyzed for robustness. Finite-time and asymptotic state regulators are put forward for linear and nonlinear systems respectively. Further design flexibility is achieved using the robustness results of the optimization algorithms and the asymptotic state regulator by which existing nonlinear adaptive control techniques can be introduced for robust design. The approach used is easier to implement than those that use perturbation-based ESC, and tends to display a high level of robustness. The second part of the book deals with applications of ESC: a comparative study of ESC schemes in antilock braking system design, impedance matching, source seeking, formation control, collision and obstacle avoidance for groups of autonomous agents, and mobile radar networks. The book will be of benefit to graduate students persuing their degrees in applied and industrial mathematics, as well as to researchers and engineers who may encounter optimal control methods in their work.
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- Extremum-seeking control for optimization of time-varying steady-state responses of nonlinear systems
- A constrained extremum-seeking control approach
- Extremum seeking control for discrete-time systems
- A Framework for Extremum Seeking Control of Systems With Parameter Uncertainties
- Extremum seeking control of uncertain systems
- Extremum seeking control: convergence analysis
- Design and stability analysis of multivariate extremum seeking with Newton method
- Extremum seeking control with an adaptive dither signal
- Robustness and averaging properties of a large-amplitude, high-frequency extremum seeking control scheme
- Extremum-seeking control for optimization of time-varying steady-state responses of nonlinear systems
- Robust extremum seeking for a second order uncertain plant using a sliding mode controller
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- Multidimensional global extremum seeking via the DIRECT optimisation algorithm
- Robust and adaptive design of numerical optimization-based extremum seeking control
- Iterative learning control based on extremum seeking
- Unified frameworks for sampled-data extremum seeking control: global optimisation and multi-unit systems
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- Time-varying continuous-time optimisation with pre-defined finite-time stability
- A framework for a class of hybrid extremum seeking controllers with dynamic inclusions
- Extremum seeking control for a class of nonholonomic systems
- Hybrid online learning control in networked multiagent systems: A survey
- Learning-based iterative modular adaptive control for nonlinear systems
- A multi-objective extremum-seeking controller design technique
- A proportional integral extremum-seeking control approach for discrete-time nonlinear systems
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- Extremum-Seeking Control for a Class of Mechanical Systems
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- Editorial for the special issue on extremum seeking control: theory and applications
- Wind energy conversion system under asymmetrical voltage failures: analysis and nonlinear control
- A linear programming framework and an improved backtracking strategy for multiple-gradient descent
- Extremum seeking of dynamical systems via gradient descent and stochastic approximation methods
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