TY - GEN
T1 - Adaptive Hessian Estimation Based Extremum Seeking Control
AU - Fidan, Barid
AU - Demircioglu, Huseyin
AU - Al-Buraiki, Omar
N1 - Publisher Copyright:
© 2023 EUCA.
PY - 2023
Y1 - 2023
N2 - In this paper we design an adaptive motion control scheme for steering a mobile sensory agent in 2D toward the source of a signal field using the signal intensity the agent continuously measures at its current location. The signal field is modeled to be a quadratic function of location, with its extremum (maximum) at the signal source location. The proposed adaptive control design is based on on-line estimation of the Hessian parameters of the field model and the extremum location. Simulation test results verify the established properties of the proposed scheme as well as robustness to signal measurement noise.
AB - In this paper we design an adaptive motion control scheme for steering a mobile sensory agent in 2D toward the source of a signal field using the signal intensity the agent continuously measures at its current location. The signal field is modeled to be a quadratic function of location, with its extremum (maximum) at the signal source location. The proposed adaptive control design is based on on-line estimation of the Hessian parameters of the field model and the extremum location. Simulation test results verify the established properties of the proposed scheme as well as robustness to signal measurement noise.
UR - https://www.scopus.com/pages/publications/85166484058
U2 - 10.23919/ECC57647.2023.10178252
DO - 10.23919/ECC57647.2023.10178252
M3 - Conference contribution
AN - SCOPUS:85166484058
T3 - 2023 European Control Conference, ECC 2023
BT - 2023 European Control Conference, ECC 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2023 European Control Conference, ECC 2023
Y2 - 13 June 2023 through 16 June 2023
ER -