5 papers
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…
Implementation of Time-Varying Controllers for a Nonholonomic Mobile Robot: Experimental Studies
Alexander Zuyev, Victoria Grushkovskaya, Sebastian Eisner
We consider a kinematic model of a wheeled mobile robot controlled by translational and angular velocities. For this class of nonholonomic systems, a family of time-varying feedbac…
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…
Extremum Seeking with High-Order Lie Bracket Approximations: Achieving Exponential Decay Rate
Victoria Grushkovskaya, Sameh A. Eisa
This paper focuses on the further development of the Lie bracket approximation approach for extremum seeking systems. Classical results in this area provide extremum seeking algori…
On classical solutions in the stabilization problem for nonholonomic control systems with time-varying feedback laws
Alexander Zuyev, Victoria Grushkovskaya
We consider the stabilization problem for driftless control-affine systems under the bracket-generating condition. In our previous works, a class of time-varying feedback laws has…