Cooperative source seeking via networked multi-vehicle systems

作     者：Li, Zhuo You, Keyou Song, Shiji 

作者机构：Tsinghua Univ Dept Automat Beijing 100084 Peoples R China Tsinghua Univ BNRist Beijing 100084 Peoples R China 

出 版 物：《AUTOMATICA》 (自动学)

年 卷 期：2020年第115卷第0期

页      面：108853-000页

核心收录：

学科分类：0711[理学-系统科学] 0808[工学-电气工程] 07[理学] 08[工学] 070105[理学-运筹学与控制论] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 0701[理学-数学] 071101[理学-系统理论] 

基　　金：National Key Research and Development Program of China [2016YFC0300801] National Natural Science Foundation of China [41576101, 41427806] 

主　　题：Cooperative source seeking Scalar field Multi-vehicle systems Consensus algorithms Stochastic ES 

摘      要：This paper studies the cooperative source seeking problem via a networked multi-vehicle system. In contrast to existing literature, the multi-vehicle system is controlled to the source position that maximizes aggregated multiple unknown scalar fields and each sensor-enabled vehicle only samples measurements of one scalar field. Thus, a single vehicle is unable to localize the source and has to cooperate with its neighboring vehicles. By jointly exploiting the ideas of the consensus algorithm and the stochastic extremum seeking (ES), this paper proposes novel distributed stochastic ES controllers, which are gradient-free and do not need any absolute information, such that the multi-vehicle system simultaneously approaches the source position. The effectiveness of the proposed controllers is proved for quadratic scalar fields. Finally, illustrative examples are included to validate the theoretical results. (C) 2020 Elsevier Ltd. All rights reserved.