Nonholonomic source seeking in switching random fields

Proceedings of the IEEE Conference on Decision and Control

Volumn , Issue , 2010, Pages 6337-6342

  Azuma, Shun Ichi ^a   Sakar, Mahmut Selman ^b   Pappas, George J ^b  

^a KYOTO UNIVERSITY   (Japan)

^b UNIVERSITY OF PENNSYLVANIA   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTROLLERS; MACHINE DESIGN; STOCHASTIC CONTROL SYSTEMS; STOCHASTIC SYSTEMS;

MOBILITY CONSTRAINTS; NON-HOLONOMIC CONTROL; NON-HOLONOMIC MOBILE ROBOTS; NON-HOLONOMIC ROBOT; NONHOLONOMIC DYNAMICS; SIMULTANEOUS PERTURBATION; STOCHASTIC ALGORITHMS; STOCHASTIC APPROXIMATIONS;

ROBOTS;

EID: 79953138545     PISSN: 07431546     EISSN: 25762370     Source Type: Conference Proceeding    
DOI: 10.1109/CDC.2010.5717650     Document Type: Conference Paper

References (8)

1. E. Burian et al., "Gradient search with autonomous underwater vehicles using scalar measurements," Proc. of IEEE Symp. on Auto. Underwater Veh. Tech., pp. 86-98, 1996.
2. C.G. Mayhew et al., "Robust hybrid source-seeking algorithms based on directional derivatives and their approximations," Proc. of IEEE Conf. on Decis. Contr., pp. 1735-1740, 2008.
3. A.R. Mesquita et al., "Optimotaxis: A stochastic multi-agent optimization procedure with point measurements," Hybrid Systems: Computation and Control, Springer-Verlag, Berlin, pp. 358-371, 2008.
4. C. Zhang et al., "Source seeking with non-holonomic unicycle without position measurement and with tuning of forward velocity," Syst. Contr. Lett., 56-3, pp. 245-252, 2007.
5. J. Cochran and M. Krstic, "Nonholonomic source seeking with tuning of angular velocity," IEEE Trans. Automat. Contr., 54-4, pp. 717-731, 2009.
6. J.C. Spall, "Multivariate stochastic approximation using a simultaneous perturbation gradient approximation," IEEE Trans. Automat. Contr., 37-3, pp. 332-341, 1992.
7. H.J. Kushner and D.S. Clark, Stochastic Approximation Methods for Constrained and Unconstrained Systems, Springer-Verlag, 1978.
8. H. Nijmeijer and A.J. van der Schaft, Nonlinear Dynamical Control Systems, Springer-Verlag, 1990.