TY - GEN
T1 - Planar Cooperative Extremum Seeking with Guaranteed Convergence Using A Three-Robot Formation
AU - Skobeleva, Anna
AU - Fidan, Baris
AU - Ugrinovskii, Valeri
AU - Petersen, Ian R.
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/7/2
Y1 - 2018/7/2
N2 - In this paper, a combined formation acquisition and cooperative extremum seeking control scheme is proposed for a team of three robots moving on a plane. The extremum seeking task is to find the maximizer of an unknown two-dimensional function on the plane. The function represents the signal strength field due to a source located at the maximizer, and is assumed to be locally concave around the maximizer and monotonically decreasing in distance to the source location. Taylor expansions of the field function at the location of a particular lead robot and the maximizer are used together with a gradient estimator based on signal strength measurements of the robots to design and analyze the proposed control scheme. The proposed scheme is proven to exponentially and simultaneously (i) acquire the specified geometric formation and (ii) drive the lead robot to a specified neighbourhood disk around the maximizer, whose radius depends on the specified desired formation size as well as the norm bounds of the Hessian of the field function. The performance of the proposed control scheme is evaluated using a set of simulation experiments.
AB - In this paper, a combined formation acquisition and cooperative extremum seeking control scheme is proposed for a team of three robots moving on a plane. The extremum seeking task is to find the maximizer of an unknown two-dimensional function on the plane. The function represents the signal strength field due to a source located at the maximizer, and is assumed to be locally concave around the maximizer and monotonically decreasing in distance to the source location. Taylor expansions of the field function at the location of a particular lead robot and the maximizer are used together with a gradient estimator based on signal strength measurements of the robots to design and analyze the proposed control scheme. The proposed scheme is proven to exponentially and simultaneously (i) acquire the specified geometric formation and (ii) drive the lead robot to a specified neighbourhood disk around the maximizer, whose radius depends on the specified desired formation size as well as the norm bounds of the Hessian of the field function. The performance of the proposed control scheme is evaluated using a set of simulation experiments.
UR - http://www.scopus.com/inward/record.url?scp=85062170108&partnerID=8YFLogxK
U2 - 10.1109/CDC.2018.8619784
DO - 10.1109/CDC.2018.8619784
M3 - Conference contribution
T3 - Proceedings of the IEEE Conference on Decision and Control
SP - 1305
EP - 1310
BT - 2018 IEEE Conference on Decision and Control, CDC 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 57th IEEE Conference on Decision and Control, CDC 2018
Y2 - 17 December 2018 through 19 December 2018
ER -