Brief paper: Extremum seeking for moderately unstable systems and for autonomous vehicle target tracking without position measurements

  • Authors:

  • Chunlei Zhang;Antranik Siranosian;Miroslav Krstić

  • Affiliations:

  • Etch Engineering Technology, Applied Materials, Santa Clara, CA, USA;Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA 92093-0411, USA;Department of Mechanical and Aerospace Engineering, University of California, San Diego, La Jolla, CA 92093-0411, USA

  • Venue:
  • Automatica (Journal of IFAC)
  • Year:
  • 2007

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Abstract

We remove the long standing restriction that plant dynamics in extremum seeking control must be stable and provide an extension that allows single integrators, double integrators, and moderately unstable single poles. An application of the result for single and double integrators is in control of autonomous vehicles. Extremum seeking is used for finding a source of a signal (chemical, electromagnetic, etc.) whose strength decays with the distance. This is achieved without the measurement of the position vector and using only the measurement of the scalar signal.