Comparison of extremum seeking control algorithms for robotic applications

@article{alli2012ComparisonOE,
  title={Comparison of extremum seeking control algorithms for robotic applications},
  author={B. Çalli and W. Caarls and P. Jonker and M. Wisse},
  journal={2012 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  year={2012},
  pages={3195-3202}
}
  • B. Çalli, W. Caarls, +1 author M. Wisse
  • Published 2012
  • Computer Science
  • 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
The purpose of this paper is to help engineers and researches to choose among the extremum seeking control (ESC) techniques for robotic applications such as object grasping, active object recognition and viewpoint optimization. [...] Key Method These groups are explained briefly by stressing their working principles and the effect of the parameters. Then, the techniques are compared with respect to their robustness to noise and system dynamics by simulations. In conclusion, we propose the usage of the…Expand
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Dual adaptive extremum control of a Hammerstein system
TLDR
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In many control applications the best set point for operation is not known a priori, and yet, controller design tools tend to focus on regulation to known set points and reference trajectories. ThisExpand
Extremum seeking control: Convergence analysis
TLDR
It is shown that changing the amplitude of the dither adaptively can be used to deal with global extremum seeking in presence of local extrema, and that the convergence of the algorithm is proportional to the power of thedither signal. Expand
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TLDR
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TLDR
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Real-Time Optimization by Extremum-Seeking Control
From the Publisher: Extremum seeking is a method of adaptive control outside the classical paradigm or model reference and related schemes. The unique feature of extremum seeking as an optimizationExpand
Performance improvement and limitations in extremum seeking control
We propose the inclusion of a dynamic compensator in the extremum seeking algorithm which improves the stability and performance properties of the method. This compensator is added to the integratorExpand
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  • Engineering
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  • 2000
This paper presents a systematic approach for the analysis of extremum seeking algorithms (ESA). In applications, these algorithms are used to determine and track the parameters that optimize aExpand
Extremum seeking from 1922 to 2010
Extremum seeking is a form of adaptive control where the steady-state input-output characteristic is optimized, without requiring any explicit knowledge about this input-output characteristic otherExpand
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In this paper, an improved extremum-seeking control is developed via sliding mode to apply to systems with time delay and to avoid the problem of excessive oscillation. With such a control strategy,Expand
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TLDR
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