Stochastic Source Seeking with Tuning of Forward Velocity

摘要：

Using the method of stochastic extremum seeking, we navigate an autonomous vehicle, modeled as a nonholonomic unicycle, towards the maximum of an unknown, spatially distributed signal field by measuring only the signal at the vehicle’s position. The vehicle position is not measured. Keeping the angular velocity constant, we control the forward velocity by designing a stochastic source seeking control law, which employs excitation based on filtered white noise rather than sinusoidal perturbations used in previous works. We prove local exponential convergence, both almost surely and in probability, to a small neighborhood near the source and provide numerical simulations to illustrate the effectiveness of the algorithm.

关键词： Extremum seeking stochastic averaging nonholonomic unicycle

作者: Shu-Jun Liu Paul Frihauf Miroslav Krstic

作者单位: Department of Mathematics, Southeast University, Nanjing, 211189, China Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, C

会议类型: 国际会议

会议名称: The 31st Chinese Control Conference(第三十一届中国控制会议)

会议地点: 合肥

会议语种:英文

页码: 4424-4429

在线出版日期: 2012-07-01（万方平台首次上网日期，不代表论文的发表时间）