Model-Free Source Seeking by a Novel Single-Integrator with Attenuating Oscillations and Better Convergence: Robotic Experiments

• DOI: 10.48550/arxiv.2311.04330
• Publication Date: 2023-01-01
• Authors: Shivam Bajpai; Ahmed A. Elgohary; Sameh A. Eisa
• Keywords: SIGNAL (programming language)

In this paper we validate, including experimentally, the effectiveness of a recent theoretical developments made by our group on control-affine Extremum Seeking Control (ESC) systems. particular, validation is concerned with problem source seeking mobile robot to unknown scalar signal (e.g., light). Our results it possible estimate gradient objective function (i.e., signal) incorporated in ESC and use such information apply an adaptation law which attenuates oscillations system while converging extremum source). Based previous results, propose here amended design simple single-integrator structure known literature show that can functions effectively achieve model-free, real-time light attenuated using only local measurements intensity. Results imply proposed has significant potential as also demonstrated much better convergence rate. We hope encourages expansion other fields, problems experiments.