Name
Abstract | ||
|---|---|---|
We develop a hybrid controller that drives a nonholonomic vehicle to the source of a radiation-like signal. The control signal depends only on measurements of the signal, which may be corrupted by noise, and internal states of the controller. The control strategy is inspired by a line minimization-based algorithm for unconstrained optimization of nonlinear functions without gradient information. We state the main properties of the algorithm and then discuss its implementation in a hybrid controller that coordinates the optimization algorithm with vehicle steering. We present semi- global practical convergence and stability results for the closed-loop system. These results are illustrated by simulation and experiment. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1109/ACC.2008.4586904 | Seattle, WA |
Keywords | DocType | ISSN |
closed loop systems,mobile robots,optimisation,remotely operated vehicles,robust control,steering systems,closed-loop system,line minimization-based algorithm,nonholonomic vehicles,robust source-seeking hybrid controllers,unconstrained optimization,convergence,tin,noise measurement | Conference | 0743-1619 E-ISBN : 978-1-4244-2079-7 |
ISBN | Citations | PageRank |
978-1-4244-2079-7 | 14 | 1.17 |
References | Authors | |
5 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Mayhew, C.G. | 1 | 125 | 11.53 |
| Ricardo G. Sanfelice | 2 | 216 | 27.88 |
| andrew r teel | 3 | 566 | 71.55 |