Related papers: Extremum Seeking for Controlled Vibrational Stabil…
In this paper, we systematically investigate the feasibility of different extremum-seeking (ES) control schemes to improve the conversion efficiency of wave energy converters (WECs). Continuous-time and model-free ES schemes based on the…
This paper investigates extremum seeking control for a torque-controlled antenna pointing system without direct angular measurements. We consider a two-degree-of-freedom (2-DOF) antenna system that receives an unknown signal from its…
This paper presents a Newton-based stochastic extremum-seeking control method for real-time optimization in multi-input systems with distinct input delays. It combines predictor-based feedback and Hessian inverse estimation via stochastic…
We study the problem of global extremum seeking in the presence of local extrema. We investigate two different perturbation-based methods: 1) a well-known classical extremum seeking scheme for steady-state output optimization, and 2) a…
We study in this paper the problem of adaptive trajectory tracking for nonlinear systems affine in the control with bounded state-dependent and time-dependent uncertainties. We propose to use a modular approach, in the sense that we first…
This paper deals with the gradient extremum seeking control for static scalar maps with actuators governed by distributed diffusion partial differential equations (PDEs). To achieve the real-time optimization objective, we design a…
This paper addresses the nonovershooting control problem for strict-feedback nonlinear systems with unknown control direction. We propose a method that integrates extremum seeking with Lie bracket-based design to achieve approximately…
To be useful for quantum computation, gate operations must be maintained at high fidelities over long periods of time. In addition to decoherence, slow drifts in control hardware leads to inaccurate gates, causing the quality of operation…
This paper presents the design and analysis of an extremum seeking (ES) controller for scalar static maps in the context of infinite-dimensional dynamics governed by the 1D Euler-Bernoulli (EB) beam Partial Differential Equation (PDE). The…
We generalize the Safe Extremum Seeking algorithm to address the minimization of an unknown objective function subject to multiple unknown inequality and equality constraints, relying on recent results of gradient flow systems. These…
This paper focuses on the further development of the Lie bracket approximation approach for optimization and control via extremum seeking systems. Classical results in this area provide algorithms with exponential convergence rates for…
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…
In this paper, we study a tracking control problem for linear time-invariant systems, with model parametric uncertainties, under input and states constraints. We apply the idea of modular design introduced in Benosman et al. 2014, to solve…
Extremum seeking systems are powerful methods able to steer the input of a (dynamical) cost function towards an optimizer, without any prior knowledge of the cost function. To achieve their objective, they typically combine time-periodic…
This paper proposes a non-adaptive control solution framework to the practical output regulation problem (PORP) for a class of nonlinear systems with uncertain parameters, unknown control directions and uncertain exosystem dynamics. The…
Many autonomous robots aimed at source-seeking are studied, and their controls designed, using unicycle modeling and formulation. This is true not only for model-based controllers, but also for model-free, real-time control methods such as…
This paper focuses on the further development of the Lie bracket approximation approach for extremum seeking systems. Classical results in this area provide extremum seeking algorithms with exponential convergence rates for quadratic-like…
This paper deals with the gradient-based extremum seeking control for multivariable maps under actuator saturation. By exploiting a polytopic embedding of the unknown Hessian, we derive a LMI-based synthesis condition to ensure that the…
This paper presents a static event-triggered control strategy for multivariable Newton-based extremum seeking. The proposed method integrates event-triggered actuation into the Newton-based optimization framework to reduce control updates…
We develop a method for the model reference adaptive control (MRAC) of LTI systems via Extremum Seeking (ES). Our proof of global asymptotic tracking enables design of the adaptive controller to satisfy averaging requirements, and…