Flatness-Based Extremum-Seeking Control Over Periodic Orbits

  title={Flatness-Based Extremum-Seeking Control Over Periodic Orbits},
  author={Martin Guay and Denis Dochain and Michel Perrier and Nicolas Hudon},
  journal={IEEE Transactions on Automatic Control},
In this note, an extremum-seeking controller is developed to steer a periodic system to orbits that maximize a functional of interest for a class of differentially flat nonlinear systems. The problem is posed as a real-time optimal trajectory generation problem in which the optimal orbit is computed using an extremum-seeking approach. Using the flatness property of the dynamics, the original dynamic optimization problem is transformed to a parameterized optimization problem which can be solved… CONTINUE READING
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