论文标题
具有多个时间尺度动力学的非独立系统的极值寻求方法
Extremum Seeking Approach for Nonholonomic Systems with Multiple Time Scale Dynamics
论文作者
论文摘要
在本文中，考虑了满足括号生成条件的一类无线性漂移控制系统。开发了一种无梯度优化算法，用于最小化受控系统轨迹的成本函数。该算法包括一个近似方案，具有非体力学动力学的快速振荡控件以及相对于输出测量值的无模型极值寻求组件。在适当的假设基于扩展系统的时间尺度参数下，建立了轨迹向最佳点的任意邻里的指数收敛。提出的算法用Brockett Integrator进行数值测试，以实现生成功能的不同选择。
In this paper, a class of nonlinear driftless control-affine systems satisfying the bracket generating condition is considered. A gradient-free optimization algorithm is developed for the minimization of a cost function along the trajectories of the controlled system. The algorithm comprises an approximation scheme with fast oscillating controls for the nonholonomic dynamics and a model-free extremum seeking component with respect to the output measurements. Exponential convergence of the trajectories to an arbitrary neighborhood of the optimal point is established under suitable assumptions on time scale parameters of the extended system. The proposed algorithm is tested numerically with the Brockett integrator for different choices of generating functions.
