Extremum seeking on submanifolds in the Euclidian space

نویسندگان

  • Hans-Bernd Dürr
  • Milos S. Stankovic
  • Karl Henrik Johansson
  • Christian Ebenbauer
چکیده

Extremum seeking is a powerful control method to steer a dynamical system to an extremum of a partially unknown function. In this paper, we introduce extremum seeking systems on submanifolds in the Euclidian space. Using a trajectory approximation technique based on Lie brackets, we prove that uniform asymptotic stability of the so-called Lie bracket system on themanifold implies practical uniform asymptotic stability of the corresponding extremum seeking system on themanifold.We illustrate the approach with an example of extremum seeking on a torus. © 2014 Elsevier Ltd. All rights reserved.

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عنوان ژورنال:
  • Automatica

دوره 50  شماره 

صفحات  -

تاریخ انتشار 2014