论文标题
在没有耗散的情况下，超级寻求控制谎言组的完全致命的机械系统
Extremum Seeking Control for Fully Actuated Mechanical Systems on Lie Groups in the Absence of Dissipation
论文作者
论文摘要
在本文中，我们研究了超级寻求无耗散环境中机械系统控制的问题。这包括对空间中卫星的态度控制以及理想流体中刚体的位移控制。机械系统的配置和速度被视为未知数。有关当前系统状态的唯一信息来源是通过实时测量标量信号的实时测量，其值必须最小化。假定信号是由配置依赖性目标函数给出的，该目标函数在分析上尚不清楚。我们的目标是渐近地稳定速度消失的状态周围的机械系统，目标函数的最小值。拟议的控制法采用周期性扰动信号来提取有关目标函数梯度的信息以及从感应信号的响应中，机械系统的速度。在合适的假设下，我们证明了闭环系统的局部和非本地稳定性。一般结果通过示例说明。
In this paper, we study the problem of extremum seeking control for mechanical systems in dissipation-free environments. This includes attitude control of satellites in space and displacement control of rigid bodies in ideal fluids. The configuration and the velocity of the mechanical system are treated as unknown quantities. The only source of information about the current system state is provided by real-time measurements of a scalar signal whose value has to be minimized. The signal is assumed to be given by a configuration-dependent objective function, which is not known analytically. Our goal is to asymptotically stabilize the mechanical system around states with vanishing velocity and a minimum value of the objective function. The proposed control law employs periodic perturbation signals to extract information about the gradient of the objective function and the velocity of the mechanical system from the response of the sensed signal. Under suitable assumptions, we prove local and non-local stability properties of the closed-loop system. The general results are illustrated by examples.
