Tracking underwater target using extremum seeking★

Abstract

In this paper problem of source-seeking and tracking underwater target by surface vehicle using range measurements with low sampling rate is addressed. Paper compares three extremum seeking schemes: classical extremum seeking, EKF based gradient estimation extremum seeking and EKF based gradient estimation extremum seeking enhanced with static function model data. It is shown that using additional model information can improve gradient estimation when dealing with intermittent range measurements.

A family of extremum seeking laws for a unicycle model with a moving target: theoretical and experimental studies

“…Estimation of the cost function. Direct calculation of integrals in (18) for t = T + t 0 and the application of formula (6) imply…”

“…Such problems arise, for example, when a robot has to follow a moving target (tracking problem) and only the distance (but not the relative position) to the moving target can be measured. Although gradient-free control laws for the tracking of a moving target have been previously considered (see, e.g., [3,4,13,18,19,23,24,25,31,32,33]), the main advantage of the proposed family of extremum seeking laws is, on the one hand, the high flexibility in designing the control functions such that they meet further specifications like input constraints, and, on the other hand, the family of control functions ensures rigorous stability and tracking properties.…”

Underwater Acoustic Source Seeking Using Time-Difference-of-Arrival Measurements

“…Source seeking with movement toward the object of interest in the underwater environment can be achieved using the range measurements, e.g., acoustic range measurements are used in [15], where the extremum seeking-based control approach from [16] is presented as a means to converge toward an underwater source, whereas in [5] an extended Kalman filter is used to determine a source location using the range measurements, and the vehicle's conventional control algorithms are then used to reach the desired position. One of the main issues with estimationbased single range localization systems is the observability of the system.…”

Partial stabilization of nonholonomic systems with application to multi-agent coordination

“…However, it should be noted that the requirement of asymptotic stability is redundant in many applied problems, while only the stability with respect to some part of the state variables characterizes the desired behavior of the closed-loop system. For example, such partial stability problems arise from the single axis stabilization of satellites [1,2], tracking tasks for robotic manipulators with redundant kinematics [3][4][5], multi-agent coordination and synchronization tasks.…”