Extremum seeking control for fully actuated mechanical systems on Lie groups in the absence of dissipation

Abstract

In this paper, we study the problem of extremum seeking control for mechanical systems in dissipation-free environments. This includes attitude control of satellites in space and displacement control of rigid bodies in ideal fluids. The configuration and the velocity of the mechanical system are treated as unknown quantities. The only source of information about the current system state is provided by real-time measurements of a scalar signal whose value has to be minimized. The signal is assumed to be given by a configuration-dependent objective function, which is not known analytically. Our goal is to asymptotically stabilize the mechanical system about states with vanishing velocity and a minimum value of the objective function. The proposed control law employs periodic perturbation signals to extract information about the gradient of the objective function and the velocity of the mechanical system from the response of the sensed signal. Under suitable assumptions, we prove local and non-local stability properties of the closed-loop system. The general results are illustrated by examples.