Abstract
In this chapter we present a form of extremum seeking (ES) in which the unknown function being minimized enters the system?s dynamics as the argument of a cosine or sine term, thereby guaranteeing known bounds on update rates and control efforts. We present general n-dimensional optimization and stabilization results as well as 2D vehicle control, with bounded velocity and control efforts. For application to autonomous vehicles, tracking a source in a GPS denied environment with unknown orientation, this ES approach allows for smooth heading angle actuation, with constant velocity, and in application to a unicycle-type vehicle results in control ability as if the vehicle is fully actuated.
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Scheinker, A., Krstić, M. (2017). Bounded ES. In: Model-Free Stabilization by Extremum Seeking. SpringerBriefs in Electrical and Computer Engineering(). Springer, Cham. https://doi.org/10.1007/978-3-319-50790-3_6
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DOI: https://doi.org/10.1007/978-3-319-50790-3_6
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Publisher Name: Springer, Cham
Print ISBN: 978-3-319-50789-7
Online ISBN: 978-3-319-50790-3
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