2025/10/07 by Alan Williams, Jorge Cortés, Williams, Alan +3
Engineering · #Extremum Seeking Control Systems #FOS: Mathematics #Optimization and Control (math.OC)
paper · pdf · doi:10.48550/arxiv.2510.06403
openalex publication_date 2025/10/07 · openalex created_date 2025/10/18 · openalex updated_date 2026/07/28
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 constraints may represent safety or other critical conditions. The proposed ES algorithm functions as a general nonlinear programming tool, offering practical maintenance of all constraints and semiglobal practical asymptotic stability, utilizing a Lyapunov argument on the penalty function and the set-valued Lie derivative. The efficacy of the algorithm is demonstrated on a 2D problem.