Extremum seeking control for an acceleration controlled unicycle
نویسندگان
چکیده
منابع مشابه
Phase-based Extremum Seeking Control
Extremum Seeking Control (ESC) is a model-free adaptive control method to locate and track the optimal working point for nonlinear plants. However, as shown recently, traditional ESC methods may not work well for dynamic systems. In this thesis, we consider a novel ESC loop to locate the optimal operating point for both static and dynamic systems. Considering that the phase-lag of the system un...
متن کاملProportional-integral extremum-seeking control
This paper proposes a proportional-integral extremum-seeking control technique. The technique is a generalization of the standard perturbation based techniques that provides fast transient performance of the closed-loop system to the optimum equilibrium of a measured objective function. The main contribution is that the formal development of this technique does not require the need for a time-s...
متن کاملExtremum seeking control for discrete-time systems
We present an extremum seeking control algorithm for discrete-time systems applied to a class of plants that are represented as a series combination of a linear input dynamics, a static nonlinearity with an extremum, and a linear output dynamics. By using the two-time scale averaging theory, we derive a mild sufficient condition under which the plant output exponentially converges to an ( ) nei...
متن کاملExtremum Seeking for Model Reference Adaptive Control
Adaptive control with predictable parameter convergence has remained a challenge for several decades. In the special case of set point adaptation, extremum seeking permits predictable parameter convergence by design. This is because persistency of excitation requirements are met by the sinusoidal perturbation that is part of the basic control design. Here we present results of extremum seeking ...
متن کاملExtremum-Seeking Control of Subsonic Cavity Flow
An adaptive control system using extremum-seeking optimization is developed to suppress subsonic cavity flow oscillations. The overall control system is developed by following two steps. First, a simple linear control law which uses measurements of wall pressure fluctuations at two different locations in the cavity is developed, and the effect on the magnitude of the limit cycle produced by tun...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: IFAC-PapersOnLine
سال: 2019
ISSN: 2405-8963
DOI: 10.1016/j.ifacol.2019.12.040