A Lie bracket approximation for extremum seeking vehicles

IFAC Proceedings Volumes (IFAC-PapersOnline)

Volumn 44, Issue 1 PART 1, 2011, Pages 11393-11398

  Dürr, Hans Bernd ^a   Stanković, Miloffs S ^b   Johansson, Karl Henrik ^b  

^a UNIVERSITY OF STUTTGART   (Germany)

^b ROYAL INSTITUTE OF TECHNOLOGY   (Sweden)

Author keywords

Autonomous mobile robots; Extremum seeking; Nonlinear control systems; Stability

Indexed keywords

ASYMPTOTIC STABILITY; CONVERGENCE OF NUMERICAL METHODS; FLIGHT CONTROL SYSTEMS; NONLINEAR CONTROL SYSTEMS;

AUTONOMOUS MOBILE ROBOT; EXTREMUM POINTS; EXTREMUM SEEKING; INPUT AFFINE SYSTEMS; NOVEL METHODOLOGY; OBJECTIVE FUNCTIONS; PERIODIC EXCITATIONS; QUALITATIVE BEHAVIOR;

CONTROL THEORY;

EID: 84866769712     PISSN: 14746670     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.3182/20110828-6-IT-1002.02209     Document Type: Conference Paper

References (13)

1. Chaillet, A. and Loria, A. (2006). A converse Lyapunov theorem for semiglobal practical asymptotic stability and application to cascades-based control. In 2006 45th IEEE Conference on Decision and Control, 4259-4264.
2. Dürr, H.B. (2010). Distributed Positioning of Autonomous Mobile Sensors with Application to the Coverage Problem. Master's thesis, Royal Institute of Technology, Stockholm Sweden.
3. Isidori, A. (1989). Nonlinear Control Systems. Springer.
4. Khalil, H.K. (2002). Nonlinear systems. Prentice Hall, Upper Saddle River, N.J., 3rd ed edition.
5. Li, Z. and Canny, J.F. (eds.) (1992). Nonholonomic Motion Planning. Kluwer Academic Publishers, Norwell, MA, USA.
6. Moreau, L. and Aeyels, D. (2000). Practical stability and stabilization. IEEE Transactions on Automatic Control, 45(8), 1554-1558.
7. Sastry, S. (1999). Nonlinear Systems. Springer.
8. Stanković, M.S. and Stipanović, D.M. (2009). Discrete time extremum seeking by autonomous vehicles in a stochastic environment. In Proceedings of the 48th IEEE Conference on Decision and Control, 4541-4546.
9. Stanković, M.S. and Stipanović, D.M. (2010). Extremum seeking under stochastic noise and applications to mobile sensors. Automatica, 46, 1243-1251.
10. Tan, Y., Nešić, D., and Mareels, I. (2006). On nonlocal stability properties of extremum seeking control. Automatica, 42, 889-903.
11. Teel, A., Peuteman, J., and Aeyels, D. (1998). Global asymptotic stability for the averaged implies semi-global practical asymptotic stability for the actual. In Proceedings of the 37th IEEE Conference on Decision and Control, volume 2, 1458-1463.
12. Zhang, C., Arnold, D., Ghods, N., Siranosian, A., and Krstić, M. (2007a). Source seeking with nonholonomic unicycle without position measurement and with tuning of forward velocity. Systems and Control Letters, 56, 245-252.
13. Zhang, C., Siranosian, A., and Krstić, M. (2007b). Extremum seeking for moderately unstable systems and for autonomous vehicle target tracking without position measurements. Automatica, 43, 1832-1839.