11 papers
Resilient Extremum Seeking Control for Cyber-Physical Systems Under Denial-of-Service Attacks
Filipe da Silva Bastos Teixeira, Pedro Henrique Silva Coutinho, Tiago Roux Oliveira +1
Extremum seeking control (ESC) relies on deliberately injected excitation to extract optimization information from measured outputs, making its networked implementation particularl…
Towards Co-Designed Event-Triggered Extremum Seeking
Roberto Luo, Pedro Henrique Silva Coutinho, Victor Hugo Pereira Rodrigues +2
This paper studies event-triggered gradient-based multivariable extremum seeking for nonlinear maps with polytopic Hessian uncertainty. Unlike existing event-triggered extremum-see…
Event-Triggered Discrete-Time Multivariable Extremum Seeking Systems
Victor Hugo Pereira Rodrigues, Tiago Roux Oliveira, Miroslav Krstić +1
This paper introduces a discrete-time event-triggered extremum seeking framework for real-time optimization of multivariable nonlinear systems. In contrast to conventional discrete…
Discrete-Time Event-Triggered Extremum Seeking
Victor Hugo Pereira Rodrigues, Tiago Roux Oliveira, Miroslav Krstić +1
This paper proposes a discrete-time event-triggered extremum seeking control scheme for real-time optimization of nonlinear systems. Unlike conventional discrete-time implementatio…
Nested Extremum Seeking Converges to Stackelberg Equilibrium
Brad Ratto, Alan Williams, Miroslav Krstić +2
The nested Extremum Seeking (nES) algorithm is a model-free optimization method that has been shown to converge to a neighborhood of a Nash equilibrium. In this work, we demonstrat…
Extremum Seeking Control for Wave-PDE Actuation with Distributed Effects
Elisio Juvenal Muchave, Pedro Henrique Silva Coutinho, Tiago Roux Oliveira +1
This paper deals with the gradient-based extremum seeking control (ESC) with actuation dynamics governed by distributed wave partial differential equations (PDEs). To achieve the c…
Nonholonomic Robot Parking by Feedback -- Part II: Nonmodular, Inverse Optimal, Adaptive, Prescribed/Fixed-Time and Safe Designs
Kwang Hak Kim, Velimir Todorovski, Miroslav Krstić
For the unicycle system, we provide constructive methods for the design of feedback laws that have one or more of the following properties: being nonmodular and globally exponentia…
Multivariable Gradient-Based Extremum Seeking Control with Saturation Constraints
Enzo Ferreira Tomaz Silva, Pedro Henrique Silva Coutinho, Tiago Roux Oliveira +2
This paper addresses the multivariable gradient-based extremum seeking control (ESC) subject to saturation. Two distinct saturation scenarios are investigated here: saturation acti…
Half-Global Deadbeat Parking for Dubins Vehicle
Miroslav Krstić, Kwang Hak Kim, Velimir Todorovski
This paper presents a framework for stabilizing the Dubins vehicle model to zero in finite time (deadbeat parking) by interpreting distance as a time-like variable. We develop cont…
Inverse Optimal Feedback and Gain Margins for Unicycle Stabilization
Kwang Hak Kim, Velimir Todorovski, Miroslav Krstić
The recent development of globally strict control Lyapunov functions (CLFs) for the challenging unicycle parking problem provides a foundation for pursuing optimality. We address t…
Stabilization of Age-Structured Competing Populations
Carina Veil, Miroslav Krstić, Patrick McNamee +1
Age-structured models capture the dynamic behavior of populations over time and result in nonlinear integro-partial differential equations (IPDEs). These processes arise in various…