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Overshoot‐free nonholonomic source seeking in 3‐D
Author(s) -
Lin Jinbiao,
Song Shiji,
You Keyou,
Krstic Miroslav
Publication year - 2017
Publication title -
international journal of adaptive control and signal processing
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.73
H-Index - 66
eISSN - 1099-1115
pISSN - 0890-6327
DOI - 10.1002/acs.2764
Subject(s) - nonholonomic system , control theory (sociology) , overshoot (microwave communication) , root locus , computer science , exponential function , constant (computer programming) , convergence (economics) , exponential stability , mathematics , engineering , mobile robot , robot , artificial intelligence , control (management) , nonlinear system , control system , physics , mathematical analysis , telecommunications , programming language , economic growth , electrical engineering , economics , quantum mechanics
Summary This paper studies the problem of steering a nonholonomic vehicle with a constant forward velocity to localize a source in 3‐D. Of two existing 3‐D source‐seeking strategies, one causes overshoots of the vehicle around the source while the other shows slow convergence rate in approaching the source. We propose a composite of these 2 control strategies to achieve a balanced performance by taking advantage of both strategies. Moreover, we prove local exponential stability for a static spherical signal map using averaging and describe the influence of the parameters using root locus method. Simulation results further validate the effectiveness and advantages of the combined strategy.