Dynamic angular velocity turning for extremum seeking control of a two-dimensional mobile robot with external disturbances

Yibin Wang,Xiaoying Sun,Huilin Li,Hua Chen

doi:10.1177/1729881419851327

Yibin Wang, Xiaoying Sun + Show 2 more

Open Access

https://doi.org/10.1177/1729881419851327

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Abstract

In this article, the extremum seeking control of a two-dimensional mobile robot with external disturbances is discussed by applying dynamic angular velocity turning method. First, the extremum seeking scheme is proposed to describe the trajectory of the two-dimensional robot and to achieve extreme value optimization through dynamic feedback. Secondly, the method of finite-time control and dynamic feedback is proposed to ensure that the dynamic angular velocity converges to the virtual controller within a finite time. Thirdly, the sliding mode disturbance observer is designed to guarantee that the observer converges to an unknown disturbance in finite time. Furthermore, we allow the averaging method and the results are applied in stability analysis. Finally, our control scheme is feasible by a series of simulations.

Highlights

Extremum seeking control (ESC), as an optimization method, has shown its superiority in many fields in the past years and has been widely studied.[1,2,3,4,5,6,7,8,9,10] From local convergence[1] to semi-global convergence and to finite-time convergence, it has attracted considerable attention in the field of control
As well as yðtÞ: it can be seen that the main problem studied in this article is to design a dynamic controller in an environment where global positioning system (GPS) is not applicable and exists of unknown disturbance to achieve the purpose of ES by describing the dynamic angular velocity turning and make the following two expressions are established
This article studies the problem of dynamic angular velocity turning for ESC of a 2-D mobile robot with external

Summary

Introduction

Extremum seeking control (ESC), as an optimization method, has shown its superiority in many fields in the past years and has been widely studied.[1,2,3,4,5,6,7,8,9,10] From local convergence[1] to semi-global convergence and to finite-time convergence, it has attracted considerable attention in the field of control. If functions (3) and (4) satisfy the convergence of trajectories and if the origin is a GUAS equilibrium point of equation (3), the origin of equation (4) is EÀ PGUUB.[21] if the origin of system (2) is GUAS, the origin of system (1) Consider this model of 2-D mobile robot with external disturbances has the following dynamic feedback of angular velocity !. As well as yðtÞ: it can be seen that the main problem studied in this article is to design a dynamic controller in an environment where GPS is not applicable and exists of unknown disturbance to achieve the purpose of ES by describing the dynamic angular velocity turning and make the following two expressions are established. For a first-order system z_ 1⁄4 U ; and we state z is a positive value function with respect to time, there exists a positive letter U 0, satisfying |U j jU 0|.17 For a certain number zð0Þ, there always exists a positive letter L, satisfying

1: So there is a finite time

Conclusion