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- Title
Overshoot-free nonholonomic source seeking in 3-D.
- Authors
Lin, Jinbiao; Song, Shiji; You, Keyou; Krstic, Miroslav
- Abstract
This paper studies the problem of steering a nonholonomic vehicle with a constant forward velocity to localize a source in 3-D. Of two existing 3-D source-seeking strategies, one causes overshoots of the vehicle around the source while the other shows slow convergence rate in approaching the source. We propose a composite of these 2 control strategies to achieve a balanced performance by taking advantage of both strategies. Moreover, we prove local exponential stability for a static spherical signal map using averaging and describe the influence of the parameters using root locus method. Simulation results further validate the effectiveness and advantages of the combined strategy.
- Subjects
ADAPTIVE control systems; AVERAGING method (Differential equations); VARIATIONAL principles; EXPONENTIAL stability; PARAMETERS (Statistics)
- Publication
International Journal of Adaptive Control & Signal Processing, 2017, Vol 31, Issue 9, p1285
- ISSN
0890-6327
- Publication type
Article
- DOI
10.1002/acs.2764