论文标题
无坡度的合作社寻求移动来源
Gradient Free Cooperative Seeking of a Moving Source
论文作者
论文摘要
在本文中，我们考虑通过没有梯度信息的代理网络对时间变化的标量字段的优化。我们提出了一项复合控制法，将极值与地层控制融为一体，以最大程度地减少梯度估计误差，以更快地收敛到极值。通过形式化地层与梯度估计误差之间的关系，我们提供了一种新颖的分析，以证明网络与该领域时间的界限变化的极端分析。我们假设随时间变化的场满足了Polyak Lojasiewicz的不等式，并且梯度在每次迭代时是Lipschitz的连续。提供数值研究和比较以支持理论结果。
In this paper, we consider the optimisation of a time varying scalar field by a network of agents with no gradient information. We propose a composite control law, blending extremum seeking with formation control in order to converge to the extrema faster by minimising the gradient estimation error. By formalising the relationship between the formation and the gradient estimation error, we provide a novel analysis to prove the convergence of the network to a bounded neighbourhood of the field's time varying extrema. We assume the time-varying field satisfies the Polyak Lojasiewicz inequality and the gradient is Lipschitz continuous at each iteration. Numerical studies and comparisons are provided to support the theoretical results.
