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Analysis of an Extremum Seeking Controller Under Bounded Disturbance
Samuel C Pinto1, Sean B Andersson1,2
1Department of Mechanical Engineering.
Proceedings of the ... IEEE Conference on Decision & Control. IEEE Conference on Decision & Control
|June 2, 2022
Summary
This study analyzes Extremum Seeking (ES) for mobile agent source localization under disturbances. A simplified ES controller approximation accurately predicts the full system
Area of Science:
- Control Theory
- Robotics
- Optimization
Background:
- Extremum Seeking (ES) is utilized for mobile agents to locate scalar field sources.
- Existing literature lacks formal analysis of ES controller behavior under disturbances for source seeking.
Purpose of the Study:
- To formally analyze the behavior of Extremum Seeking controllers for source localization in the presence of disturbances.
- To investigate the impact of source movement and measurement disturbances on ES controller performance.
Main Methods:
- An approximate version of a specific ES control algorithm was defined for simplified analysis.
- Formal characterization of the convergence properties of the approximate ES controller.
- Simulations and physical experiments were conducted to compare the simplified and full ES systems.
Main Results:
- The simplified ES controller approximation captures the essential features of the full system.
- Theoretically predicted regions of attraction for the simplified system align well with the full system's behavior.
Conclusions:
- The simplified ES controller serves as a reliable predictor for the behavior of the original ES controller.
- This analysis provides a formal understanding of ES controller convergence under disturbances in source localization tasks.
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