Stochastic source seeking with forward and angular velocity regulation

DOI10.1016/J.AUTOMATICA.2017.06.007MaRDI QIDQ1679134zbMATH OpenOpenAlexDBLPWikidataFDO

Authors Jinbiao Lin, Keyou You, Shiji Song, Miroslav Krstic

Publication date 8 November 2017

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1611.04762

zbMATH Keywords

adaptive controlextremum seekingnonholonomic unicyclesource localizationstochastic averaging

Mathematics Subject Classification ID

Nonholonomic dynamical systems (37J60) Nonholonomic systems related to the dynamics of a system of particles (70F25) Adaptive control/observation systems (93C40) Application models in control theory (93C95) Optimal stochastic control (93E20)

Abstract: This paper studies a stochastic extremum seeking method to steer a nonholonomic vehicle to the unknown source of a static spatially distributed filed in a plane. The key challenge lies in the lack of vehicle's position information and the distribution of the scalar field. Different from the existing stochastic strategy that keeps the forward velocity constant and controls only the angular velocity, we design a stochastic extremum seeking controller to regulate both forward and angular velocities simultaneously in this work. Thus, the vehicle decelerates near the source and stays within a small area as if it comes to a full stop, which solves the overshoot problem in the constant forward velocity case. We use the stochastic averaging theory to prove the local exponential convergence, both almost surely and in probability, to a small neighborhood near the source for elliptical level sets. Finally, simulations are included to illustrate the theoretical results.

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Cites work

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• Source seeking with non-holonomic unicycle without position measurement and with tuning of forward velocity
• Speed regulation in steering-based source seeking
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• Stochastic source seeking for nonholonomic unicycle
• Stochastic source seeking with forward and angular velocity regulation

Cited in

(19)

• Stochastic source seeking with forward and angular velocity regulation
• AUV based source seeking with estimated gradients
• The isoline tracking in unknown scalar fields with concentration feedback
• Dual control for exploitation and exploration (DCEE) in autonomous search
• Distributed stochastic source seeking for multiple vehicles over fixed topology
• Cooperative source seeking via networked multi-vehicle systems
• Optimotaxis: A Stochastic Multi-agent Optimization Procedure with Point Measurements
• Overshoot-free nonholonomic source seeking in 3-D
• Multi-agent source seeking via discrete-time extremum seeking control
• Semi-global stability analysis of source seeking with dynamic sensor reading and a class of nonlinear maps
• Bounded extremum seeking for angular velocity actuated control of nonholonomic unicycle
• Nonholonomic source seeking in three dimensions using pitch and yaw torque inputs
• Coordinate-free control for the isoline tracking of an unknown scalar field
• Stochastic time-varying extremum seeking and its applications
• Multi-USV cooperative oil spill source seeking via extremum seeking combined with information fusion
• Overcoming local extrema in torque-actuated source seeking using the divergence theorem and delay
• Stochastic source seeking for nonholonomic unicycle
• Source seeking with non-holonomic unicycle without position measurement and with tuning of forward velocity
• Speed regulation in steering-based source seeking

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