Pinto Samuel C, Andersson Sean B
Department of Mechanical Engineering.
Division of Systems Engineering.
Proc IEEE Conf Decis Control. 2021 Dec;2021:679-684. doi: 10.1109/cdc45484.2021.9682813. Epub 2022 Feb 1.
One of the applications of Extremum Seeking (ES) is to localize the source of a scalar field by using a mobile agent that can measure this field at its current location. While the scientific literature has presented many approaches to this problem, a formal analysis of the behavior of ES controllers for source seeking in the presence of disturbances is still lacking. This paper aims to fill this gap by analyzing a specific version of an ES control algorithm in the presence of source movement and measurement disturbances. We define an approximate version of this controller that captures the main features but allows for a simplified analysis and then formally characterize the convergence properties of this approximation. Through simulations and physical experiments, we compare the theoretically-predicted regions of attraction of the simplified system with the behavior of the full system and show that the simplified version is a good predictor of the behavior of the initial ES controller.
极值搜索（ES）的应用之一是通过使用一个能够在其当前位置测量标量场的移动智能体来定位标量场的源。虽然科学文献中已经提出了许多解决这个问题的方法，但对于存在干扰时用于源搜索的ES控制器行为的形式化分析仍然缺乏。本文旨在通过分析存在源移动和测量干扰时ES控制算法的特定版本来填补这一空白。我们定义了该控制器的一个近似版本，它捕捉了主要特征，但允许进行简化分析，然后正式描述该近似的收敛特性。通过仿真和物理实验，我们将简化系统的理论预测吸引区域与完整系统的行为进行比较，并表明简化版本是初始ES控制器行为的良好预测器。
