Related papers: Practical Prescribed-Time Seeking of a Repulsive S…
Our recently developed "unbiased" extremum seeking (uES) algorithms ensure perfect convergence to the optimum at a user-assigned exponential rate or, more powerfully, within a user-prescribed time. Unlike classical approach, these…
In this paper, we investigate the problem of source seeking with a unicycle in the presence of local extrema. Our study is motivated by the fact that most of the existing source seeking methods follow the gradient direction of the signal…
This paper introduces a novel model-free, real-time unicycle-based source seeking design. This design autonomously steers the unicycle dynamic system towards the extremum point of an objective function or physical/scalar signal that is…
We extend source seeking algorithms, in the absence of position and velocity measurements, and with tuning of the surge input, from velocity-actuated (unicycle) kinematic models to force-actuated generic Euler-Lagrange dynamic underactuated…
According to recent results, convergence in a prespecified or prescribed finite time can be achieved under extreme model uncertainty if control is applied continuously over time. This paper shows that this extreme amount of uncertainty…
This paper studies a stochastic extremum seeking method to steer a nonholonomic vehicle to the unknown source of a static spatially distributed filed in a plane. The key challenge lies in the lack of vehicle's position information and the…
This paper introduces a class of time-varying controllers for Euler-Lagrange systems such that the convergence occurs at an arbitrary finite time, independently of initial conditions, and free of chattering. The proposed controller is based…
This paper proposes a novel distributed optimization framework that addresses time-varying optimization problems without requiring explicit derivative information of the objective functions. Traditional distributed methods often rely on…
From the perspective of control theory, the gradient descent optimization methods can be regarded as a dynamic system where various control techniques can be designed to enhance the performance of the optimization method. In this paper, we…
We analyze a class of singularly perturbed high-amplitude, high-frequency oscillatory systems that arises in extremum seeking applications. We provide explicit formulas for averaging and establish the convergence of the trajectories of this…
We present multivariable extremum seeking (ES) designs that achieve unbiased convergence to the optimum. Two designs are introduced: one with exponential unbiased convergence (unbiased extremum seeker, uES) and the other with…
We propose a dual mode extremum seeking control design technique that achieves real-time optimization of an unknown measured cost function in a prescribed time. The controller is shown to achieve semi-global practical stability of the…
The topics of source seeking and Newton-based extremum seeking have flourished, independently, but never combined. We present the first Newton-based source seeking algorithm. The algorithm employs forward velocity tuning, as in the very…
In this paper, we consider issues relative to prescribed time stabilisation of a chain of integrators of arbitrary length, either pure (i.e., where there is no disturbance) or perturbed. In a first part, we revisit the proportional…
Sound source tracking is commonly performed using classical array-processing algorithms, while machine-learning approaches typically rely on precise source position labels that are expensive or impractical to obtain. This paper introduces a…
We analyze a class of high-amplitude, high-frequency oscillatory systems in which periodicity occurs on two distinct time scales and establish the convergence of its trajectories to a suitably averaged system by recursively applying the…
In this paper, we deal with the inverse source problem of determining a source in a time fractional diffusion equation where data are given at a fixed time. This problem is ill-posed, i.e., the solution does not depend continuously on the…
We present the design and experimental validation of source seeking control algorithms for a unicycle mobile robot that is equipped with novel 3D-printed flexible graphene-based piezoresistive airflow sensors. Based solely on a local…
This paper investigates the problem of impact-time-control and proposes a learning-based computational guidance algorithm to solve this problem. The proposed guidance algorithm is developed based on a general prediction-correction concept:…
A novel Follow-the-Perturbed-Leader type algorithm is proposed and analyzed for solving general long-term constrained optimization problems in an online manner, where the target and constraint functions are oblivious adversarially generated…