Extremum seeking with very slow or drifting sensors

  • Authors:

  • Nima Ghods;Miroslav Krstic

  • Affiliations:

  • Department of Mechanical and Aerospace Engineering, University of California, San Diego;Department of Mechanical and Aerospace Engineering, University of California, San Diego

  • Venue:
  • ACC'09 Proceedings of the 2009 conference on American Control Conference
  • Year:
  • 2009

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Abstract

Slow sensors arise in many applications, including sensing of concentrations of chemicals in tracking of contaminant plumes. Slow sensors are often the cause of poor performance and a potential cause of instability. In this paper we design a modified extremum seeking scheme to account for and even to exploit slow sensor dynamics. We also consider the worst case, which is sensor dynamics governed by a pure integrator. We provide stability results for several distinct variations on our ES scheme. We use metal-oxide microhotplate gas sensors as a real world example of slow sensor dynamics, model the sensor based on experimental data, and provide extremum seeking simulation results employing the identified sensor model.