2022/05/09 by Bo Wang, Sergey G. Nersesov, Wang, Bo +7
Engineering · Physics and Astronomy · #Advanced Fiber Laser Technologies #Extremum Seeking Control Systems #FOS: Electrical engineering #Mechanical and Optical Resonators #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2205.04589
openalex publication_date 2022/05/09 · openalex created_date 2022/05/22 · openalex updated_date 2026/07/28
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 models. In the design and analysis, we employ a symmetric product approximation, averaging, passivity, and partial-state stability theory. The proposed control law requires only real-time measurement of the source signal at the current position of the vehicle and ensures semi-global practical uniform asymptotic stability (SPUAS) with respect to the linear motion coordinates for the closed-loop system. The performance of our source seeker with surge force tuning is illustrated with both numerical simulations and experiments of an underactuated boat.