Robust source-seeking hybrid controllers for nonholonomic vehicles

Call Number:

NULL

Accession Number:

NULL

Other Number:

NULL

URL:

https://hybrid.soe.ucsc.edu/files/preprints/24.pdf

Keywords:

hybrid systems

Abstract:

We consider the problem of steering a nonholonomic vehicle to the source of a radiation-like signal with only measurements of the signal. We propose a general control strategy for vehicle steering which is based on an optimization algorithm for minimization of nonlinear functions without gradient information. We state the main properties of the strategy and specialize it to the control of nonholonomic vehicles. We discuss its implementation in a hybrid controller which coordinates vehicle steering and logic elements. We present global convergence and stability results for the closed-loop system. We also discuss two possible modifications to our algorithm that improve its performance when applied to real-world environments.

NULL