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Source seeking for a three-link model of fish locomotion
2009
2009 American Control Conference
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The control law employs extremum seeking, which is a non-model based method that has been used recently in "source seeking" control for nonholonomic mobile robots. ...
We present a method of locomotion control for underwater vehicles which are propelled by a periodic deformation of the vehicle body, similar to the way a fish moves. ...
Section IV presents the specifics of a three link body moving in a fluid, introduces an extremum seeking control law, and presents the results of applying the control to the fish model. ...
doi:10.1109/acc.2009.5160256
dblp:conf/amcc/CochranKK09
fatcat:7zhh5t4gzvfy5ilyplmifbakvi
Gradient Free Cooperative Seeking of a Moving Source
[article]
2022
arXiv
pre-print
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We propose a composite control law, blending extremum seeking with formation control in order to converge to the extrema faster by minimising the gradient estimation error. ...
In this paper, we consider the optimisation of a time varying scalar field by a network of agents with no gradient information. ...
In [9, 38] , extremum seeking with a single agent is investigated relying only on the measurements of the scalar field, without usage of the agent's position. ...
arXiv:2201.00446v2
fatcat:umcjzcygvnbhno2yaodzbhxc3e
Examples of distance-based synchronization: An extremum seeking approach
2013
2013 51st Annual Allerton Conference on Communication, Control, and Computing (Allerton)
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The controller is based on an extremum seeking controller, that steers the overall system to the minimum of an optimization problem on a manifold. ...
Using a Lie bracket approximation for extremum seeking systems, we show that the controller leads to a synchronization of the overall network in both examples. ...
We demonstrated the potential use of extremum seeking on manifolds to solve synchronization problems. ...
doi:10.1109/allerton.2013.6736547
dblp:conf/allerton/DurrSJE13
fatcat:unhxolhzlbasbkwgcvibee4v3e
Switched Finite-Time Source Seeking of an Underactuated Ship
2021
Mathematical Problems in Engineering
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This paper presents a three-step switching control method for the first time. ...
extremum seeking algorithm. ...
Some groups have also discussed the control law for obtaining the extremum of a three-dimensional scalar potential field on the basis of the two-dimensional rule in [3] . ...
doi:10.1155/2021/9974071
fatcat:2mqqd3vsrbefjh37f5wnde464q
Source Seeking for Two Nonholonomic Models of Fish Locomotion
2009
IEEE Transactions on robotics
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We have developed control laws employing "extremum seeking" for two different "fish" models. ...
In this paper, we present a method of locomotion control for underwater vehicles that are propelled by a periodic deformation of the vehicle body, which is similar to the way a fish moves. ...
There are two parts to our control law: 1) how to apply extremum seeking to the gaits and 2) what function to optimize with extremum seeking. ...
doi:10.1109/tro.2009.2026500
fatcat:mihesptchjgqraw2jachep5w5y
Extremum Seeking With Stochastic Perturbations
2009
IEEE Transactions on Automatic Control
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Extremum seeking (ES) using deterministic periodic perturbations has been an effective method for non-model based real time optimization when only limited plant knowledge is available. ...
For the sake of analogy with the classical methods of stochastic approximation, stochastic ES in this technical note is pursued in discrete time. Index Terms-Extremum seeking (ES). ...
INTRODUCTION A LTHOUGH sinusoid-based extremum seeking (ES) was popular in the 1950s, the local stability results in [13] spawned renewed interest within the theoretical control community and several ...
doi:10.1109/tac.2008.2008320
fatcat:7nrpxasmc5gxllq344uaznlgum
Global extremum seeking by Kriging with a multi-agent system
2015
IFAC-PapersOnLine
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This paper presents a method for finding the global maximum of a spatially varying field using a multi-agent system. ...
A cooperative control law is proposed to move the agents to the desired sampling points while avoiding collisions. ...
ACKNOWLEDGEMENTS This work was partially supported by the DGA, of the French Defence Ministry, by the Paris-Saclay Icode institute, and the Institut Universitaire de France. ...
doi:10.1016/j.ifacol.2015.12.182
fatcat:dbamc7z7b5axjf7cqm2kgl4lem
Environmental monitoring using autonomous vehicles: a survey of recent searching techniques
2017
Current Opinion in Biotechnology
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Autonomous vehicles are becoming an essential tool in a wide range of environmental applications that include ambient data acquisition, remote sensing, and mapping of the spatial extent of pollutant spills ...
In this task, the aim is to find the location of a region that is the source of a given substance of interest (e.g. a chemical pollutant at sea or a gas leakage in air) using a group of cooperative autonomous ...
An interesting approach to three dimensional (3D) environmental extremum seeking navigation of a mobile robot is described in [32] . ...
doi:10.1016/j.copbio.2017.01.009
pmid:28254670
fatcat:tswktuwn2vactabf23ibbyeham
Extremum Seeking-based Adaptive PID Control applied to Neuromuscular Electrical Stimulation
2019
Anais da Academia Brasileira de Ciências
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A multivariable deterministic extremum seeking (ES) is being evaluated to construct an adaptive Proportional-Integral-Derivative (PID) control law for the functional Neuromuscular Electrical Stimulation ...
The true limitations of a PID controller for these types of applications is that a PID controller is designed for linear systems, but the system which is being controlled is nonlinear. ...
Pesquisa do Estado do Rio de Janeiro (FAPERJ) for the financial support. ...
doi:10.1590/0001-3765201820180544
fatcat:6kjrojg7sfe37i5nkvibvlbzae
Non-uniform 1D antenna array optimal configuration via extremum seeking control
2016
2016 IEEE International Symposium on Intelligent Control (ISIC)
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Seeking Control (PESC), (b) Numerical Optimization-based Extremum Seeking Control Using Direct Search (NOESC-DS), and (c) Numerical Optimization-based iii Extremum Seeking Control Using Particle Swarm ...
By measuring the performance function value online, a sequence, generated by three Extremum Seeking Control (ESC) algorithms that are compared in this work, guides the regulator that drives the state of ...
Suppose that we have a smooth control law u = α(x, θ), (1.3) parameterized by a scalar parameter θ. The closed-loop system. x = f (x, α(x, θ)) , (1.4) then has equilibria parameterized by θ. ...
doi:10.1109/isic.2016.7579978
fatcat:f5pmlc2iu5f3vebfewj5f3arc4
Cosmology from random multifield potentials
2006
Journal of Cosmology and Astroparticle Physics
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Using random matrix theory, we analyze the Hessian matrices associated with the extrema of this potential. These potentials generically have a vast number of extrema. ...
We consider the statistical properties of vacua and inflationary trajectories associated with a random multifield potential. ...
In particular, we are grateful to Douglas Stone for guiding us through the literature on random matrices, and to Shamit Kachru and Liam McAllister for detailed comments on a draft of this paper. ...
doi:10.1088/1475-7516/2006/03/013
fatcat:ddoybdsosvea7lgafhuqzybqry
Computational algorithms for aerodynamic analysis and design
1993
Applied Numerical Mathematics
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The analysis leads to a construction of flux-limited dissipation for multi-dimensional structured and unstructured meshes which guarantees the positivity of a solution of a scalar conservation law, because ...
The three-dimensional conservation law ; + &f(v) + $(a) + ;h(v) = 0 (14) can be treated in a similar manner by first expressing the convective flux balance as a sum of differences along edges. ...
doi:10.1016/0168-9274(93)90096-a
fatcat:gck32qjyivgyhmxntwl3lkvf4a
Quasi-Monotone Advection Schemes Based on Explicit Locally Adaptive Dissipation
1998
Monthly Weather Review
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The authors develop and test computational methods for advection of a scalar field that also include a minimal dissipation of its variance in order to preclude the formation of false extrema. ...
Both of these properties are desirable for advectively dominated geophysical flows, where the relevant scalars are both potential vorticity and material concentrations. ...
This research was supported by the National Science Foundation Grant ECS 9217394 and Office of Naval Research Grant ONR-N00014-95-1-0316. APPENDIX A ...
doi:10.1175/1520-0493(1998)126<1541:qmasbo>2.0.co;2
fatcat:udc2alyhhfbyrd5dxiawuijiqa
Distributed Source Seeking via a Circular Formation of Agents Under Communication Constraints
2016
IEEE Transactions on Control of Network Systems
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combination of a cooperative control law to stabilize the agents to a circular formation and a distributed consensus-based source seeking algorithm, which is guaranteed to steer the circular formation ...
The benefit of using consensus-based algorithms resides in a more realist discrete time control of the agents and in asynchronous communication resilient to delays, which is particularly relevant for underwater ...
For all simulations of sections V-A, V-B and V-C, the scalar field is a combination of two ellipsis and thus with non-convex level curves given by In order to combine the circular formation control law ...
doi:10.1109/tcns.2015.2428391
fatcat:cvucz3tncjco3jkdrloqab37pe
Cooperative Distributed Source Seeking by Multiple Robots: Algorithms and Experiments
2014
IEEE/ASME transactions on mechatronics
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distributed control laws. ...
We consider the problem of source seeking using a group of mobile robots equipped with sensors for source concentration measurement. ...
In [17] , the authors give a control law by combining a potential field control law and a gradient-based control law. ...
doi:10.1109/tmech.2013.2295036
fatcat:q5i3sq2ah5bfpmc7is4ufjiw34
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