Cooperative Source Seeking for Uncertain Networked Euler-Lagrange Systems over Unbalanced Digraphs
Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review
Author(s)
Related Research Unit(s)
Detail(s)
Original language | English |
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Title of host publication | 2024 IEEE 18th International Conference on Control and Automation (ICCA) |
Publisher | IEEE Computer Society |
Pages | 168-173 |
ISBN (electronic) | 9798350354409 |
ISBN (print) | 9798350354416 |
Publication status | Published - 2024 |
Publication series
Name | IEEE International Conference on Control and Automation, ICCA |
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ISSN (Print) | 1948-3449 |
ISSN (electronic) | 1948-3457 |
Conference
Title | 18th IEEE International Conference on Control and Automation (IEEE ICCA 2024) |
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Location | University of Iceland |
Place | Iceland |
City | Reykjavík |
Period | 18 - 21 June 2024 |
Link(s)
Abstract
This work investigates the cooperative source seeking problem for uncertain networked Euler-Lagrange (EL) systems over unbalanced digraphs. The objective is to drive all agents towards the source of scalar fields. To achieve this, a novel distributed control protocol is proposed, which consists of two components: a distributed optimizer that generates a virtual reference trajectory towards the source, and a trajectory tracker that drives each agent exponentially towards this trajectory. Complemented by the exponential trajectory tracker, the stochastic extremum seeking techniques can be employed to estimate the gradient information from the strength of the scalar field in the optimizer. However, this approach introduces a new coupling term to the optimizer at the same time, which requires careful consideration in the convergence analysis. Leveraging stochastic averaging theory, the exponential practical stability then can be guaranteed for the entire closed-loop system. Finally, the effectiveness of the proposed control protocol is demonstrated by a numerical example. © 2024 IEEE.
Citation Format(s)
Cooperative Source Seeking for Uncertain Networked Euler-Lagrange Systems over Unbalanced Digraphs. / Wang, Lu; Liu, Lu.
2024 IEEE 18th International Conference on Control and Automation (ICCA). IEEE Computer Society, 2024. p. 168-173 (IEEE International Conference on Control and Automation, ICCA).
2024 IEEE 18th International Conference on Control and Automation (ICCA). IEEE Computer Society, 2024. p. 168-173 (IEEE International Conference on Control and Automation, ICCA).
Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review