Can I read 3-D Velocity Regulation for Nonholonomic Source Seeking Without Position Measurement on EtoBox?

3-D Velocity Regulation for Nonholonomic Source Seeking Without Position Measurement by Lin, Jinbiao; Song, Shiji; You, Keyou; Wu, Cheng is a scholarly article available to read on EtoBox.

What is 3-D Velocity Regulation for Nonholonomic Source Seeking Without Position Measurement about?

We consider a three-dimensional problem of steering a nonholonomic vehicle to seek an unknown source of a spatially distributed signal field without any position measurement. In the literature, there exists an extremum seeking-based strategy under a constant forward velocity and tunable pitch and yaw velocities. Obviously, the vehicle with a constant forward velocity may exhibit certain overshoots in the seeking process and can not slow down even it approaches the source. To resolve this undesired behavior, this paper proposes a regulation strategy for the forward velocity along with the pitch and yaw velocities. Under such a strategy, the vehicle slows down near the source and stays within a small area as if it comes to a full stop, and controllers for angular velocities become succinct. We prove the local exponential convergence via the averaging technique. Finally, the theoretical results are illustrated with simulations.

Author

Lin, Jinbiao; Song, Shiji; You, Keyou; Wu, Cheng

Published

2015

Language

EN