Sensor-Noise Mitigation in Extremum Seeking Control Using Adaptive Numerical Differentiation
Abstract
Extremum-seeking control (ESC) is widely used to optimize performance when the system dynamics are uncertain. However, sensitivity to sensor noise is a crucial issue in ESC implementation due to the use of high-pass filters or gradient estimators. To reduce the sensitivity of ESC to noise, this paper investigates the use of the recently developed adaptive input and state estimation (AISE) technique for numerical differentiation. In particular, this paper develops extremum-seeking control with adaptive input and state estimation (ESC/AISE), where AISE replaces the high-pass filter of ESC to improve performance under sensor noise. The effectiveness of ESC/AISE is illustrated via numerical examples.
Cite
@article{arxiv.2501.04275,
title = {Sensor-Noise Mitigation in Extremum Seeking Control Using Adaptive Numerical Differentiation},
author = {Shashank Verma and Juan Augusto Paredes Salazar and Jhon Manuel Portella Delgado and Ankit Goel and Dennis S. Bernstein},
journal= {arXiv preprint arXiv:2501.04275},
year = {2026}
}
Comments
8 pages, 12 figures. Accepted to American Control Conference (ACC) 2026