کنفرانس مهندسی برق ایران

صفحه اصلی / بیست و نهمین کنفرانس مهندسی برق ایران

Multi-Agent Deployment Around a Source in the Plane Using Biased Extremum Seeking

نویسندگان :

Mohammadali Ghadiri-modarres¹ Mohsen Mojiri² Ehsan Fattahi³

1- دانشگاه صنعتی اراک 2- دانشگاه صنعتی اصفهان 3- دانشگاه صنعتی اصفهان

کلمات کلیدی :

Extremum Seeking, source seeking, biased ES, averaging theory.

چکیده :

We introduce a concept in extremum seeking, namely biased extremum seeking, which adaptively finds a set point corresponding to a prescribed bias of the value that optimizes an unknown static map. To this end, a loop consists of a product of the estimate of the Hessian of the map and the desired bias is added to the gradient based extremum seeking. Both constant bias and slowly time-varying bias are considered. As an application, the proposed scheme is used to make a group of fully actuated agents finding the source of a measurable signal in the plane while simultaneously achieving a formation deployment around it.

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