101. Overcoming local extrema in torque-actuated source seeking using the divergence theorem and delay.
- Author
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Suttner, Raik and Krstić, Miroslav
- Subjects
- *
DIVERGENCE theorem , *ROTATIONAL motion , *CIRCULAR motion , *CLOSED loop systems , *MEASUREMENT errors , *COMPUTER simulation - Abstract
We study the problem of seeking the source of a scalar signal with a force- and torque-controlled unicycle. The vehicle does not have the capability to measure or track its position. The only information about the vehicle's position relative to the source is given by measurements of the signal. We propose a feedback law that induces a uniform forward motion and an almost uniform rotational motion. This in turn leads to an almost circular motion of the unicycle; i.e., a motion along the boundary of a disk. An application of the divergence theorem reveals that the measurements of the signal along the boundary of the disk provide access to the gradient of an averaged signal, where the average is taken over the entire disk. Such a local average of the sensed signal can eliminate undesired local extrema, which in turn is beneficial for the goal of reaching a global extremum. We prove practical asymptotic stability for the closed-loop system with respect to extrema of the averaged signal. Our theoretical analysis takes L ∞ -measurement errors of the signal into account. We compare the performance of the proposed control law to another source seeking method in the presence of local extrema through numerical simulations. [ABSTRACT FROM AUTHOR]
- Published
- 2024
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