In this paper, we design a distributed stochastic sourceseeking algorithm based on time-delay measurements to implement sourceseeking and formation control, so that vehicles can achieve and maintain a specific forma...
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In this paper, we design a distributed stochastic sourceseeking algorithm based on time-delay measurements to implement sourceseeking and formation control, so that vehicles can achieve and maintain a specific formation during the sourceseeking process. First, we present continuous-time stochastic averaging theorems for nonlinear delay-differential systems with stochastic perturbations. Then, based on the stochastic extremum seeking method and the leaderless formation strategy,we design a distributed stochastic sourceseeking algorithm based on time-delay measurements to navigate multiple velocity-actuated vehicles to search for an unknown source while achieving and maintaining a predefined formation, and the effect of the delay is eliminated by adopting the one-stage sequential predictor approach. Moreover, based on our developed stochastic averaging theorems, we prove that the average position of vehicles exponentially converges to a small neighborhood of the source in the almost sure sense, and vehicles can achieve and maintain a predefined formation. Finally, we provide numerical examples to verify the effectiveness of our proposed algorithm.
The distributed source seeking complication for nonlinear multiagent systems subject to globally coupled constraints is investigated in this article. By the local optimization function measurement, the main objective ...
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The distributed source seeking complication for nonlinear multiagent systems subject to globally coupled constraints is investigated in this article. By the local optimization function measurement, the main objective is to drive all agents' output signals to the optimal value point of a coherent global optimization function with globally coupled constraints. To attain this purpose, projection-operators-based distributed optimal coordinators and reference-tracking controllers are constructed separately. Through the actual outputs of the agents, the distributed optimal coordinators generate the desired output to converge the optimal value point to the local optimization functions satisfying these constraints. In contrast, the reference-tracking controllers are proposed to drive all agents' output signals to track the optimal value point. The singular perturbation approach is applied for the interconnection feature and the system stability analysis. It is demonstrated that the distributedsource-seeking problem for nonlinear multiagent systems with globally coupled constraints can be solved. In the end, experimental results on the four-wheeled omni-directional mobile robots platform demonstrate the efficacy and superiority of the proposed technique.
distributed source seeking in a three-dimensional (3-D) environment without explicit estimation of the gradient of the field is challenging. Nevertheless, for a swarm of an arbitrary number of agents, we develop a str...
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distributed source seeking in a three-dimensional (3-D) environment without explicit estimation of the gradient of the field is challenging. Nevertheless, for a swarm of an arbitrary number of agents, we develop a strategy to perform a sourceseeking behavior by requiring agents to synchronize their direction of motion using only local interactions while modulating their speed based only on the field value measured by each agent. The agents collectively move toward the source without estimating gradient and without sharing measurements of the field. We formulate a cascaded input-to-state stability problem from which we obtain Lyapunov-based convergence and robustness results. We validate the convergence of the swarm to the minimum of the field through simulated sourceseeking behavior in a 3-D scalar field.
This paper investigates the distributed source seeking problem using a group of mobile agents equipped with sensors for source scalar field measurement. Each controlled mobile agent is represented by a cascade connect...
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ISBN:
(纸本)9798350360875;9798350360868
This paper investigates the distributed source seeking problem using a group of mobile agents equipped with sensors for source scalar field measurement. Each controlled mobile agent is represented by a cascade connection of an integrator and a nonlinear uncertain actuation system. In specific, the integrator describes the kinematic of mobile agent, while the actuation system represents the dynamic response of the reference control input signal, which is characterized by input-to-output stability. The main objective is to drive average state of all agents to the optimal solution of a given scalar field function and maintain desired formation, based on field value measured by each agent. In order to achieve this objective, a formation-based sourceseeking algorithm is designed. Based on the actual measurements of the field, the algorithm generates a moving direction to guide the average state of agents collectively move toward the source without estimating gradient of the field. Furthermore, the desired formation is achieved and Lyapunov-based convergence and robustness results are presented. Finally, the effectiveness and superiority of the proposed method are demonstrated through a physical experiment.
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