Stochastic source seeking for nonholonomic unicycle |
| |
Authors: | Shu-Jun Liu [Author Vitae] Miroslav Krstic [Author Vitae] |
| |
Affiliation: | a Department of Mathematics, Southeast University, Nanjing 210096, China b Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA 92093-0411, USA |
| |
Abstract: | We apply the recently introduced method of stochastic extremum seeking to navigate a nonholonomic unicycle towards the maximum of an unknown, spatially distributed signal field, using only the measurement of the signal at the vehicle’s location but without the measurement of the vehicle’s position. Keeping the forward velocity constant and controlling only the angular velocity, we design a stochastic source seeking control law which employs excitation based on filtered white noise, rather than sinusoidal perturbations used in the existing work. We study stability with the help of stochastic averaging theorems that we recently developed for general nonlinear continuous-time systems with stochastic perturbations. We prove local exponential convergence, both almost surely and in probability, to a small neighborhood near the source. We characterize the convergence speed explicitly and provide design guidelines for maximizing it, as well as for minimizing the residual set near the source. We present a detailed simulation study, including a study of the effect of saturation on the steering input. |
| |
Keywords: | Nonholonomic unicycle Stochastic averaging Extremum seeking |
本文献已被 ScienceDirect 等数据库收录! |
|