Model-Free Optimization and Control of Rigid Body Dynamics: An Extremum Seeking for Vibrational Stabilization Approach
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arXiv
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| Auteurs principaux: | , , , |
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| Format: | Preprint |
| Publié: |
2025
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| _version_ | 1866911602309070848 |
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| author | Palanikumar, Rohan Elgohary, Ahmed A. Martini, Simone Eisa, Sameh A. |
| author_facet | Palanikumar, Rohan Elgohary, Ahmed A. Martini, Simone Eisa, Sameh A. |
| contents | In this paper, we introduce a model-free, real-time, dynamic optimization and control method for a class of rigid body dynamics. Our method is based on a recent extremum seeking control for vibrational stabilization (ESC-VS) approach that is applicable to a class of second-order mechanical systems. The new ESC-VS method is able to stabilize a rigid body dynamic system about the optimal state of an objective function that can be unknown expression-wise, but assessable through measurements; the ESC-VS is operable by using only one perturbation/vibrational signal. We demonstrate the effectiveness and the applicability of our ESC-VS approach via three rigid-body systems: (1) satellite attitude dynamics, (2) quadcopter attitude dynamics, and (3) acceleration-controlled unicycle dynamics. The results, including simulations with and without measurement delays/noise, illustrate the ability of our ESC-VS to operate successfully as a new methodology of optimization and control for rigid body dynamics. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2510_22402 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Model-Free Optimization and Control of Rigid Body Dynamics: An Extremum Seeking for Vibrational Stabilization Approach Palanikumar, Rohan Elgohary, Ahmed A. Martini, Simone Eisa, Sameh A. Optimization and Control In this paper, we introduce a model-free, real-time, dynamic optimization and control method for a class of rigid body dynamics. Our method is based on a recent extremum seeking control for vibrational stabilization (ESC-VS) approach that is applicable to a class of second-order mechanical systems. The new ESC-VS method is able to stabilize a rigid body dynamic system about the optimal state of an objective function that can be unknown expression-wise, but assessable through measurements; the ESC-VS is operable by using only one perturbation/vibrational signal. We demonstrate the effectiveness and the applicability of our ESC-VS approach via three rigid-body systems: (1) satellite attitude dynamics, (2) quadcopter attitude dynamics, and (3) acceleration-controlled unicycle dynamics. The results, including simulations with and without measurement delays/noise, illustrate the ability of our ESC-VS to operate successfully as a new methodology of optimization and control for rigid body dynamics. |
| title | Model-Free Optimization and Control of Rigid Body Dynamics: An Extremum Seeking for Vibrational Stabilization Approach |
| topic | Optimization and Control |
| url | https://arxiv.org/abs/2510.22402 |