Extremum seeking for dynamic maps using Lie brackets and singular perturbations

• Autores: Hans-Bernd Dürr, Miroslav Krstić, Alexander Scheinker, Christian Ebenbauer
• Localización: Automatica: A journal of IFAC the International Federation of Automatic Control, ISSN 0005-1098, Vol. 83, 2017, págs. 91-99
• Idioma: inglés
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• Resumen

  • Abstract We introduce a framework for the analysis of extremum seeking systems for dynamic maps based on Lie bracket approximations and singular perturbation theory. Using the introduced framework, we provide an extremum seeking regulator for a unicycle and prove its stability properties.