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Source Seeking by Extremum-Seeking Control

Grant number: 18/12359-7
Support type:Scholarships abroad - Research
Effective date (Start): February 10, 2019
Effective date (End): February 09, 2020
Field of knowledge:Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
Principal researcher:Bruno Augusto Angélico
Grantee:Bruno Augusto Angélico
Host: George Pappas
Home Institution: Escola Politécnica (EP). Universidade de São Paulo (USP). São Paulo , SP, Brazil
Research place: University of Pennsylvania, United States  

Abstract

The source seeking problem is of great importance for autonomous vehicles that cannot use GPS and/or INS on board, like underwater, under ice, or in cave situations. It consists in seeking the source of a scalar signal, thal could be the concentration of a chemical or biological agent, an electromagnetic, acoustic, or even thermal signal. It is assumed that the seking vehicle has access only to the value of the signal at its location.It can be interpretated as an optimizations problem that tries to minimize a cost function that relates the strength of the scalar signal. The point is that the cost function is not directy available, but only the value of the scalar signal at the vehicle position.One way to deal with such a problem is the Extremum-Seeking Control method (ESC). With ESC, the extremum of the cost function can b achievable, without its knowing, provided that it is a class C2 function.

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