Abstract
To desensitize the dependence of perturbation based extremum seeking control (ESC) scheme on changing curvature at different operating points, an ESC scheme in an approximate constant convergence speed is proposed by adding a hyperbolic tangent function into the classical ESC scheme. The purpose of the hyperbolic tangent function is to extract the symbol of gradient information smoothly. The improved ESC scheme can converge to a neighborhood of the extremum in robust convergence speed. In addition, the stability proof of the proposed ESC is provided in detail, some simulation results are provided to illustrate the effectiveness of the proposed ESC.
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