Normalized Extremum Seeking and Its Application to Nonholonomic Source Localization

• 成果类型: Article
• 署名作者: Ghadiri-Modarres, Mohammadali; Mojiri, Mohsen
• 署名单位: Isfahan University of Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2020.3004786
• 发表日期: 2021
• 页码: 2281-2288
• 关键词: linear programming; stability analysis; asymptotic stability; Robustness; Perturbation methods; Real-time systems; Angular velocity; extremum seeking (ES); nonholonomic unicycle; normalized ES; practical stability; source localization

摘要

A suitable normalization technique is introduced to improve the robustness properties of the conventional perturbation-based extremum seeking (ES). Following practical stability analysis, an appropriate expression is found for the normalization signal in the proposed normalized ES. Application of the proposed scheme in the source localization with nonholonomic unicycle has an additional advantage of ensuring that forward and angular velocities of the unicycle have a priori known bounds.