Source Seeking by Extremum-Seeking Control

• Grant number: 18/12359-7
• Support Opportunities: Scholarships abroad - Research
• Start date: February 10, 2019
• End date: February 09, 2020
• Field of knowledge: Engineering - Electrical Engineering - Industrial Electronics, Electronic Systems and Controls
• Principal Investigator: Bruno Augusto Angélico
• Grantee: Bruno Augusto Angélico
• Host Investigator: George Pappas
• Host Institution: Escola Politécnica (EP). Universidade de São Paulo (USP). São Paulo , SP, Brazil
• Institution abroad: University of Pennsylvania, United States

Abstract

The source seeking problem is of great importance for autonomous vehicles that cannot use GPS and/or INS on board, like underwater, under ice, or in cave situations. It consists in seeking the source of a scalar signal, thal could be the concentration of a chemical or biological agent, an electromagnetic, acoustic, or even thermal signal. It is assumed that the seking vehicle has access only to the value of the signal at its location.It can be interpretated as an optimizations problem that tries to minimize a cost function that relates the strength of the scalar signal. The point is that the cost function is not directy available, but only the value of the scalar signal at the vehicle position.One way to deal with such a problem is the Extremum-Seeking Control method (ESC). With ESC, the extremum of the cost function can b achievable, without its knowing, provided that it is a class C2 function.

Scientific publications

(References retrieved automatically from Web of Science and SciELO through information on FAPESP grants and their corresponding numbers as mentioned in the publications by the authors)

ANGELICO, BRUNO A.; CHAMON, LUIZ F. O.; PATERNAIN, SANTIAGO; RIBEIRO, ALEJANDRO; PAPPAS, GEORGE J.; IEEE. Source Seeking in Unknown Environments with Convex Obstacles. 2021 AMERICAN CONTROL CONFERENCE (ACC), v. N/A, p. 7-pg., 2021-01-01. (18/12359-7)