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| Autores principales: | , |
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| Formato: | Preprint |
| Publicado: |
2024
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| Materias: | |
| Acceso en línea: | https://arxiv.org/abs/2401.11319 |
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| _version_ | 1866917574000771072 |
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| author | Abdelgalil, Mahmoud Poveda, Jorge |
| author_facet | Abdelgalil, Mahmoud Poveda, Jorge |
| contents | Stability results for extremum seeking control in $\mathbb{R}^n$ have predominantly been restricted to local or, at best, semi-global practical stability. Extending semi-global stability results of extremum-seeking systems to unbounded sets of initial conditions often demands a stringent global Lipschitz condition on the cost function, which is rarely satisfied by practical applications. In this paper, we address this challenge by leveraging tools from higher-order averaging theory. In particular, we establish a novel second-order averaging result with \emph{global} (practical) stability implications. By leveraging this result, we characterize sufficient conditions on cost functions under which uniform global practical asymptotic stability can be established for a class of extremum-seeking systems acting on static maps. Our sufficient conditions include the case when the gradient of the cost function, rather than the cost function itself, satisfies a global Lipschitz condition, which covers quadratic cost functions. Our results are also applicable to vector fields that are not necessarily Lipschitz continuous at the origin, opening the door to non-smooth Lie-bracket ES dynamics. We illustrate all our results via different analytical and/or numerical examples. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2401_11319 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Initialization-Free Lie-Bracket Extremum Seeking in $\mathbb{R}^n$ Abdelgalil, Mahmoud Poveda, Jorge Optimization and Control Stability results for extremum seeking control in $\mathbb{R}^n$ have predominantly been restricted to local or, at best, semi-global practical stability. Extending semi-global stability results of extremum-seeking systems to unbounded sets of initial conditions often demands a stringent global Lipschitz condition on the cost function, which is rarely satisfied by practical applications. In this paper, we address this challenge by leveraging tools from higher-order averaging theory. In particular, we establish a novel second-order averaging result with \emph{global} (practical) stability implications. By leveraging this result, we characterize sufficient conditions on cost functions under which uniform global practical asymptotic stability can be established for a class of extremum-seeking systems acting on static maps. Our sufficient conditions include the case when the gradient of the cost function, rather than the cost function itself, satisfies a global Lipschitz condition, which covers quadratic cost functions. Our results are also applicable to vector fields that are not necessarily Lipschitz continuous at the origin, opening the door to non-smooth Lie-bracket ES dynamics. We illustrate all our results via different analytical and/or numerical examples. |
| title | Initialization-Free Lie-Bracket Extremum Seeking in $\mathbb{R}^n$ |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2401.11319 |