Discrete time extremum seeking by autonomous vehicles in a stochastic environment

Miloş S. Stanković; Duşan M. Stipanović

doi:10.1109/CDC.2009.5400504

Discrete time extremum seeking by autonomous vehicles in a stochastic environment

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

In this paper, discrete time extremum seeking algorithms with sinusoidal perturbations have been developed for three different problems involving autonomous vehicle planar control: a) control of velocity actuated vehicles; b) control of force actuated vehicles; c) control of nonholonomic vehicles (unicycles). The algorithms assume time varying gains and are able to cope with stochastic perturbations. Convergence to the extremal point, with probability one, has been demonstrated for all three cases. It is also shown how the proposed algorithms can be applied to mobile sensors as a tool for achieving optimal observation positions. The proposed algorithms have been illustrated with several simulations.

Original language	English (US)
Title of host publication	Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	4541-4546
Number of pages	6
ISBN (Print)	9781424438716
DOIs	https://doi.org/10.1109/CDC.2009.5400504
State	Published - 2009
Event	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 - Shanghai, China Duration: Dec 15 2009 → Dec 18 2009

Publication series

Name	Proceedings of the IEEE Conference on Decision and Control
ISSN (Print)	0743-1546
ISSN (Electronic)	2576-2370

Other

Other	48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009
Country/Territory	China
City	Shanghai
Period	12/15/09 → 12/18/09

ASJC Scopus subject areas

Control and Systems Engineering
Modeling and Simulation
Control and Optimization

Online availability

10.1109/CDC.2009.5400504

Library availability

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Stanković, M. S., & Stipanović, D. M. (2009). Discrete time extremum seeking by autonomous vehicles in a stochastic environment. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009 (pp. 4541-4546). Article 5400504 (Proceedings of the IEEE Conference on Decision and Control). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/CDC.2009.5400504

Discrete time extremum seeking by autonomous vehicles in a stochastic environment. / Stanković, Miloş S.; Stipanović, Duşan M.
Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc., 2009. p. 4541-4546 5400504 (Proceedings of the IEEE Conference on Decision and Control).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Stanković, MS & Stipanović, DM 2009, Discrete time extremum seeking by autonomous vehicles in a stochastic environment. in Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009., 5400504, Proceedings of the IEEE Conference on Decision and Control, Institute of Electrical and Electronics Engineers Inc., pp. 4541-4546, 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009, Shanghai, China, 12/15/09. https://doi.org/10.1109/CDC.2009.5400504

Stanković MS, Stipanović DM. Discrete time extremum seeking by autonomous vehicles in a stochastic environment. In Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc. 2009. p. 4541-4546. 5400504. (Proceedings of the IEEE Conference on Decision and Control). doi: 10.1109/CDC.2009.5400504

Stanković, Miloş S. ; Stipanović, Duşan M. / Discrete time extremum seeking by autonomous vehicles in a stochastic environment. Proceedings of the 48th IEEE Conference on Decision and Control held jointly with 2009 28th Chinese Control Conference, CDC/CCC 2009. Institute of Electrical and Electronics Engineers Inc., 2009. pp. 4541-4546 (Proceedings of the IEEE Conference on Decision and Control).

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Discrete time extremum seeking by autonomous vehicles in a stochastic environment

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