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Underactuated Source Seeking by Surge Force Tuning: Theory and Boat Experiments

Bo WangSergey NersesovHashem AshrafiuonPeiman NaseradinmousaviMiroslav Krsti\'c
May 2022
摘要
We extend source seeking algorithms, in the absence of position and velocitymeasurements, and with tuning of the surge input, from velocity-actuated(unicycle) kinematic models to force-actuated generic Euler-Lagrange dynamicunderactuated models. In the design and analysis, we employ a symmetric productapproximation, averaging, passivity, and partial-state stability theory. Theproposed control law requires only real-time measurement of the source signalat the current position of the vehicle and ensures semi-global practicaluniform asymptotic stability (SPUAS) with respect to the linear motioncoordinates for the closed-loop system. The performance of our source seekerwith surge force tuning is illustrated with both numerical simulations andexperiments of an underactuated boat.
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