Event-Triggered Source Seeking Control for Nonholonomic Systems
Fuente:
arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866913787565572096 |
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| author | Rodrigues, Victor Hugo Pereira Oliveira, Tiago Roux Krstic, Miroslav |
| author_facet | Rodrigues, Victor Hugo Pereira Oliveira, Tiago Roux Krstic, Miroslav |
| contents | This paper introduces an event-triggered source seeking control (ET-SSC) for autonomous vehicles modeled as the nonholonomic unicycle. The classical source seeking control is enhanced with static-triggering conditions to enable aperiodic and less frequent updates of the system's input signals, offering a resource-aware control design. Our convergence analysis is based on time-scaling combined with Lyapunov and averaging theories for systems with discontinuous right-hand sides. ET-SSC ensures exponentially stable behavior for the resulting average system, leading to practical asymptotic convergence to a small neighborhood of the source point. We guarantee the avoidance of Zeno behavior by establishing a minimum dwell time to prevent infinitely fast switching. The performance optimization is aligned with classical continuous-time source seeking algorithms while balancing system performance with actuation resource consumption. Our ET-SSC algorithm, the first of its kind, allows for arbitrarily large inter-sampling times, overcoming the limitations of classical sampled-data implementations for source seeking control. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_07797 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Event-Triggered Source Seeking Control for Nonholonomic Systems Rodrigues, Victor Hugo Pereira Oliveira, Tiago Roux Krstic, Miroslav Optimization and Control Systems and Control This paper introduces an event-triggered source seeking control (ET-SSC) for autonomous vehicles modeled as the nonholonomic unicycle. The classical source seeking control is enhanced with static-triggering conditions to enable aperiodic and less frequent updates of the system's input signals, offering a resource-aware control design. Our convergence analysis is based on time-scaling combined with Lyapunov and averaging theories for systems with discontinuous right-hand sides. ET-SSC ensures exponentially stable behavior for the resulting average system, leading to practical asymptotic convergence to a small neighborhood of the source point. We guarantee the avoidance of Zeno behavior by establishing a minimum dwell time to prevent infinitely fast switching. The performance optimization is aligned with classical continuous-time source seeking algorithms while balancing system performance with actuation resource consumption. Our ET-SSC algorithm, the first of its kind, allows for arbitrarily large inter-sampling times, overcoming the limitations of classical sampled-data implementations for source seeking control. |
| title | Event-Triggered Source Seeking Control for Nonholonomic Systems |
| topic | Optimization and Control Systems and Control |
| url | https://arxiv.org/abs/2504.07797 |