4 papers
Nonholonomic Source Seeking by Torque Tuning: Local and Semi-Global Feedbacks
Bo Wang
This paper studies source seeking for a torque-controlled nonholonomic vehicle with a laterally displaced scalar sensor. The vehicle has constant forward speed, while its yaw motio…
Extremum Seeking Control for Antenna Pointing via Symmetric Product Approximation
Bo Wang, Hashem Ashrafiuon, Sergey G. Nersesov
This paper investigates extremum seeking control for a torque-controlled antenna pointing system without direct angular measurements. We consider a two-degree-of-freedom (2-DOF) an…
Leader-Follower Formation and Tracking Control of Underactuated Surface Vessels
Bo Wang, Antonio Loria
This Technical Note presents a simple control approach for global trajectory tracking and formation control of underactuated surface vessels equipped with only two propellers. The…
Underactuated Source Seeking by Surge Force Tuning: Theory and Boat Experiments
Bo Wang, Sergey Nersesov, Hashem Ashrafiuon +2
We extend source seeking algorithms, in the absence of position and velocity measurements, and with tuning of the surge input, from velocity-actuated (unicycle) kinematic models to…