Multi-agent gradient climbing via extremum seeking control

Sei Zhen Khong, Chris Manzie, Ying Tan, Dragan Nešić

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations


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 languageEnglish (US)
Title of host publication19th IFAC World Congress IFAC 2014, Proceedings
EditorsEdward Boje, Xiaohua Xia
PublisherIFAC Secretariat
Number of pages6
ISBN (Electronic)9783902823625
StatePublished - 2014
Event19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014 - Cape Town, South Africa
Duration: Aug 24 2014Aug 29 2014

Publication series

NameIFAC Proceedings Volumes (IFAC-PapersOnline)
ISSN (Print)1474-6670


Other19th IFAC World Congress on International Federation of Automatic Control, IFAC 2014
CountrySouth Africa
CityCape Town

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:


  • Cooperative control
  • Extremum seeking
  • Gradient climbing
  • Multi-agent systems


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