6 papers · 1 filter
Nonsmooth High-Order Averaging Theory with Application to Extremum Seeking Optimization and Control
Hesham Abdelfattah, Sameh A. Eisa, Peter Stechlinski
In this paper, we introduce a higher-order averaging theory and method for a wide range of nonsmooth systems that are generally characterized by the classical averaging canonical f…
Extremum seeking with exponential convergence via high-order Lie bracket approximations
Victoria Grushkovskaya, Sameh A. Eisa
This paper focuses on the further development of the Lie bracket approximation approach for optimization and control via extremum seeking systems. Classical results in this area pr…
Model-Free Optimization and Control of Rigid Body Dynamics: An Extremum Seeking for Vibrational Stabilization Approach
Rohan Palanikumar, Ahmed A. Elgohary, Simone Martini +1
In this paper, we introduce a model-free, real-time, dynamic optimization and control method for a class of rigid body dynamics. Our method is based on a recent extremum seeking co…
Model-free source seeking of exponentially convergent unicycle: theoretical and robotic experimental results
Rohan Palanikumar, Ahmed A. Elgohary, Victoria Grushkovskaya +1
This paper introduces a novel model-free, real-time unicycle-based source seeking design. This design autonomously steers the unicycle dynamic system towards the extremum point of…
Hovering Flight in Flapping Insects and Hummingbirds: A Natural Real-Time and Stable Extremum Seeking Feedback System
Ahmed A. Elgohary, Sameh A. Eisa
In this paper, we take an initial and novel step toward characterizing the physics of the hovering phenomenon in flapping insects and hummingbirds as a new class of extremum seekin…
Extremum Seeking for Controlled Vibrational Stabilization of Second Order Mechanical Systems
Ahmed A. Elgohary, Sameh A. Eisa
This paper presents a novel extremum seeking control (ESC) approach for the vibrational stabilization of a class of mechanical systems (e.g., systems characterized by equations of…