Singularly Perturbed Averaging with Application to Bio-Inspired 3D Source Seeking

被引：3
|
作者：
Abdelgalil, Mahmoud [1 ]
Eldesoukey, Asmaa [1 ]
Taha, Haithem [2 ]
机构：
[1] Univ Calif Irvine, Dept Mech & Aerosp Engn, Irvine, CA 92617 USA
[2] Univ Calif Irvine, Fac Mech & Aerosp Engn, Irvine, CA 92617 USA
来源：
2023 AMERICAN CONTROL CONFERENCE, ACC | 2023年
关键词：
EXTREMUM SEEKING; SOURCE LOCALIZATION;
D O I：
10.23919/ACC55779.2023.10156319
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
We propose a novel 3D source seeking algorithm for rigid bodies with a non-collocated sensor inspired by the chemotactic navigation strategy of sea urchin sperm known as helical klinotaxis. We work directly with the rotation group SO(3) without parameterization in representing the attitude of a rigid body. As a consequence, the proposed algorithm does not require attitude feedback for implementation as opposed to all previous work on 3D source seeking. The stability of the proposed algorithm is proven using an intricate combination of singular perturbation and second order averaging.
引用
收藏
页码：885 / 890
页数：6
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