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Gradient climbing in formation via extremum seeking and passivity‐based coordination rules
Author(s) -
Bıyık Emrah,
Arcak Murat
Publication year - 2008
Publication title -
asian journal of control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.769
H-Index - 53
eISSN - 1934-6093
pISSN - 1561-8625
DOI - 10.1002/asjc.19
Subject(s) - dither , maxima and minima , control theory (sociology) , passivity , hill climbing , climbing , field (mathematics) , mathematics , computer science , engineering , control (management) , mathematical optimization , artificial intelligence , mathematical analysis , bandwidth (computing) , computer network , structural engineering , pure mathematics , electrical engineering
We consider a gradient climbing problem where the objective is to steer a group of vehicles to the extrema of an unknown scalar field distribution while keeping a prescribed formation. We address this problem by developing a scheme in which the leader performs extremum seeking for the minima or maxima of the field, and other vehicles follow according to passivity‐based coordination rules. The extremum‐seeking approach generates approximate gradients of the field locally by “dithering” sensor positions. We show that if there is sufficient time‐scale separation between the fast dither and slow gradient motions of the leader vehicle, the followers only respond to the gradient motion, and filter out the dither component. Copyright © 2008 John Wiley and Sons Asia Pte Ltd and Chinese Automatic Control Society