Robust hybrid source-seeking algorithms based on directional derivatives and their approximations
Submitted by ricardo on February 28, 2017 - 2:36pm
| Title | Robust hybrid source-seeking algorithms based on directional derivatives and their approximations |
| Publication Type | Conference Paper |
| Year of Publication | 2008 |
| Authors | Mayhew C.G, Sanfelice R.G, Teel A.R |
| Conference Name | Proc. 47th IEEE Conference on Decision and Control |
| Keywords | hybrid systems |
| Abstract | A family of hybrid control algorithms is developed that steer a nonholonomic autonomous vehicle to the source of a scalar signal present in the environment. In an idealized setting, we develop a general hybrid control scheme that globally asymptotically stabilizes the vehicle position about the source. Pursuing a practical implementation, a series of perturbations to the family of controllers is introduced, resulting in a semiglobal practical stability of the vehicle position about the source. An example of a recently developed conjugate direction-based controller ?tting into this family is developed and demonstrated by simulation and experiment. |
| URL | https://hybrid.soe.ucsc.edu/files/preprints/30.pdf |
| DOI |
