相关论文: Nonlocal Nonholonomic Source Seeking Despite Local…
In this paper, a class of nonlinear driftless control-affine systems satisfying the bracket generating condition is considered. A gradient-free optimization algorithm is developed for the minimization of a cost function along the…
This paper investigates multivariable extremum seeking using unit-vector control. By employing the gradient algorithm and a polytopic embedding of the unknown Hessian matrix, we establish sufficient conditions, expressed as linear matrix…
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…
We consider perturbation-based extremum seeking, which recovers an approximate gradient of an analytically unknown objective function through measurements. Using classical needle variation analysis, we are able to explicitly quantify the…
The paper deals with a well-known extremum seeking scheme by proving uniformity properties with respect to the amplitudes of the dither signal and of the cost function. Those properties are then used to show that the scheme guarantees 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 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…
We discuss a class of coupled systems of nonlocal nonlinear balance laws modeling multilane traffic, with the nonlocality present in both convective and source terms. The uniqueness and existence of the entropy solution are proven via…
An extremely simple single-trace transmission example shows how an extended source formulation of full waveform inversion can produce an optimization problem without spurious local minima ("cycle skipping"). The data consist of a single…
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…
In this paper, we present a novel Newton-based extremum seeking controller for the solution of multivariable model-free optimization problems in static maps. Unlike existing asymptotic and fixed-time results in the literature, we present a…
There is a wide range of applications where the local extrema of a function are the key quantity of interest. However, there is surprisingly little work on methods to infer local extrema with uncertainty quantification in the presence of…
For a map that is strictly but not strongly convex, model-based gradient extremum seeking has an eigenvalue of zero at the extremum, i.e., it fails at exponential convergence. Interestingly, perturbation-based model-free extremum seeking…
We present an algorithm to solve the problem of locating the source, or maxima, of a scalar field using a robot swarm. We demonstrate how the robot swarm determines its direction of movement to approach the source using only field intensity…
We develop a framework for localized source detection in dynamical systems governed by nonlinear partial differential equations based on first and second-order sensitivity analysis. Building on the standard adjoint formulation, which…
This paper proposes a discrete-time event-triggered extremum seeking control scheme for real-time optimization of nonlinear systems. Unlike conventional discrete-time implementations relying on periodic updates, the proposed approach…
We propose a self-contained, resilient and fully distributed solution for locating the maximum of an unknown scalar field using a swarm of robots that travel at a constant speed. Unlike conventional reactive methods relying on gradient…
This paper studies the extremum seeking control (ESC) problem for a class of constrained nonlinear systems. Specifically, we focus on a family of constraints allowing to reformulate the original nonlinear system in the so-called…
This paper proposes the incorporation of static event-triggered control in the actuation path of Newton-based extremum seeking and its comparison with the earlier gradient version. As in the continuous methods, the convergence rate of the…
The paper deals with a well-known extremum seeking scheme by proving uniformity properties with respect to the amplitudes of the dither signal and of the cost function. Those properties are then used to show that the scheme guarantees the…