Related papers: Extremum Seeking Nonovershooting Control of Strict…
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…
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…
In this paper we study an event based control algorithm for trajectory tracking in nonlinear systems. The desired trajectory is modelled as the solution of a reference system with an exogenous input and it is assumed that the desired…
In this paper, we develop the extremum-seeking approach to generate admissible trajectories in a neighborhood of a given reference curve in the state space. The cost function of the problem represents the distance between the current system…
This paper provides a rigorous derivation for what is known in the literature as the Lie bracket approximation of control-affine systems in a more general and sequential framework for higher-orders. In fact, by using chronological calculus,…
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 addresses the multivariable gradient-based extremum seeking control (ESC) subject to saturation. Two distinct saturation scenarios are investigated here: saturation acting on the input of the function to be optimized, which is…
In this paper, we propose and practically evaluate a class of gradient-free control functions ensuring the motion of a unicycle-type system towards the extremum point of a time-varying cost function. We prove that the unicycle is able to…
In this paper, we describe a broad class of control functions for extremum seeking problems. We show that it unifies and generalizes existing extremum seeking strategies which are based on Lie bracket approximations, and allows to design…
Optimal control problems of tracking type for a class of linear systems with uncertain parameters in the dynamics are investigated. An affine tracking feedback control input is obtained by considering the minimization of an energy-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…
A ship steering control is designed for a nonlinear maneuvering model whose rudder manipulation is constrained in both magnitude and rate. In our method, the tracking problem of the target heading angle with input constraints is converted…
Feedforward controllers typically rely on accurately identified inverse models of the system dynamics to achieve high reference tracking performance. However, the impact of the (inverse) model identification error on the resulting tracking…
This paper deals with the gradient-based extremum seeking control (ESC) with actuation dynamics governed by distributed wave partial differential equations (PDEs). To achieve the control objective of real-time optimization for this class of…
This paper is concerned with the design of optimal control for finite-dimensional control-affine nonlinear dynamical systems. We introduce an optimal control problem that specifically optimizes nonlinear observability in addition to…
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…
This article studies the control ideas of the optimal backstepping technique, proposing an event-triggered optimal tracking control scheme for a class of strict-feedback nonlinear systems with non-affine and nonlinear faults. A simplified…
This paper introduces extremum seeking (ES) algorithms designed to achieve perfect tracking of arbitrary time-varying extremum. In contrast to classical ES approaches that employ constant frequencies and controller gains, our algorithms…
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 article aims to provide an accessible, tutorial-style introduction to hybrid extremum-seeking systems, which are model-free, feedback-optimization controllers that incorporate hybrid dynamics, meaning both continuous-time and…