Abstract
A unified framework based on discrete-time gradient-based extremum seeking control is proposed to localise an extremum of an unknown scalar field distribution using a group of equipped with sensors. The controller utilises estimates of gradients of the field from local dithering sensor measurements collected by the mobile agents. It is assumed that distributed coordination which ensures uniform asymptotic stability with respect to a prescribed formation of the agents is employed. The framework is useful in that a broad range of nonlinear programming algorithms can be combined with a wide class of cooperative control laws to perform extreme source seeking. Semi-global practical asymptotically stable convergence to local extrema is established in the presence of bounded field sampling noise.
| Original language | English (US) |
|---|---|
| Title of host publication | 19th IFAC World Congress IFAC 2014, Proceedings |
| Editors | Edward Boje, Xiaohua Xia |
| Publisher | IFAC Secretariat |
| Pages | 9973-9978 |
| Number of pages | 6 |
| ISBN (Electronic) | 9783902823625 |
| DOIs | |
| State | Published - 2014 |
| Externally published | Yes |
| Event | 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, South Africa Duration: Aug 24 2014 → Aug 29 2014 |
Publication series
| Name | IFAC Proceedings Volumes (IFAC-PapersOnline) |
|---|---|
| Volume | 19 |
| ISSN (Print) | 1474-6670 |
Other
| Other | 19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 |
|---|---|
| Country/Territory | South Africa |
| City | Cape Town |
| Period | 8/24/14 → 8/29/14 |
Bibliographical note
Funding Information:★ This work was supported by the Swedish Research Council through the Linnaeus Centre LCCC and the Australian Research Council.
Publisher Copyright:
© IFAC.
Keywords
- Cooperative control
- Extremum seeking
- Gradient climbing
- Multi-agent systems