Name
Title | ||
|---|---|---|
Robust hybrid source-seeking algorithms based on directional derivatives and their approximations |
Abstract | ||
|---|---|---|
A family of hybrid control algorithms is developed that steer a nonholonomic autonomous vehicle to the source of a scalar signal present in the environment. In an idealized setting, we develop a general hybrid control scheme that globally asymptotically stabilizes the vehicle position about the source. Pursuing a practical implementation, a series of perturbations to the family of controllers is introduced, resulting in a semi-global practical stability of the vehicle position about the source. An example of a recently developed conjugate direction-based controller fitting into this family is developed and demonstrated by simulation and experiment. |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1109/CDC.2008.4739392 | Cancun |
Keywords | Field | DocType |
asymptotic stability,conjugate gradient methods,function approximation,mobile robots,robust control,conjugate gradient direction-based controller,directional derivative function approximation,mobile robot,nonholonomic autonomous vehicle,robust hybrid source-seeking control algorithm,scalar signal source,semiglobal asymptotic stability | Control theory,Mathematical optimization,Function approximation,Computer science,Control theory,Scalar (physics),Robustness (computer science),Exponential stability,Robust control,Nonholonomic system,Mobile robot | Conference |
ISSN | ISBN | Citations |
0191-2216 E-ISBN : 978-1-4244-3124-3 | 978-1-4244-3124-3 | 12 |
PageRank | References | Authors |
1.13 | 6 | 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 |