Skobeleva, Anna (University of New South Wales), Ugrinovskii, Valery (University of New South Wales), Petersen, Ian R. (Australian Defence Force Academy)

Cooperative Extremum Seeking for a One-Dimensional Non-Linear Map Using a Two-Robot Formation

Scheduled for presentation during the Regular Session "Nonlinear Systems and Control" (MoBOr), Monday, December 18, 2017, 11:30−11:45, Room 7

2017 Australian and New Zealand Control Conference, December 17-20, 2017, Gold Coast Convention Centre, Australia

This information is tentative and subject to change. Compiled on April 19, 2024

Abstract

This paper presents a cooperative extremum seeking control scheme that uses a linear formation of two robots to find a maximum of an unknown one-dimensional non-linear map. A consensus control algorithm is used to drive the centre of the formation and an integral feedback control loop is proposed to drive the gradient of an unknown field function to zero. Simulation results are provided to evaluate the performance of the proposed method.