مكان يابي غيرهولونوميك منبع در حضور تأخير حسگر با استفاده از كنترل اكسترمم ياب

چكيده انگليسي :

Nonholonomic Source Localization in the Presence of Sensor Delay Using Extremum Seeking Control Amir Asadi amir asadi@ec iut ac ir 2019 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language Farsi Supervisor Associate Professor Mohsen Mojiri m mojiri@cc iut ac irAbstract Localization with autonomous agents in the form of single agent or multi agent is one of the active research fields incontrol Localization with autonomous agents has been commonly used by location finder Since the utilization of theseinstruments in circumstances such as under water caves and urban environments is not feasible and further the navigationsystem is too costly the source localization control of autonomous agent in order to arrive at a specific point without GPShas been considered in last decades In the source localization issue without location finder it is assumed that the agent isin the domain of a signal field The distribution of the signal field is unknown however the intensity of signal decreasesas agent gets away from the source The only available information to control the agent has been received from the sensorlocated on the agent The aim of agent is seeking the maximum value therefore extremum seeking control is an appropriatemethod to solve the source localization problem Extremum seeking control is a real time non model based method for op timization of a nonlinear map Recently source localization with first order integrator agent second order integrator agentand non holonomic agents using extremum seeking control have been studied Also compensation of constant and knowndelay with arbitrary value in the actuator path and or measurement system of a nonlinear map to be optimized has beenconsidered In this research a predictor has been proposed to adjust the forward and angular velocity of a nonholonomicagent in the presence of sensor delay The design of this predictor has been done using the high pass filter in the extremumseeking loop To analyze the stability of the system in the presence of predictor singular perturbation theory is exploited Using the singular perturbation theory separately turns the system into fast and slow time scales The stability analysisof the slow system i e the agent dynamics is carried out using averaging thoerem To analyze the stability of the fastsystem i e the predictor dynamics the root locus method is used To reap the benefit of the singular perturbation theory inthe stability analysis a low pass filter is employed in the predictor structure In the end the validity of theoretical resultshas been analyzed through computer simulation Moreover the ability of proposed predictor in compensating the uncertaindelay and variable time delay has been investigated with the help of computer simulation Keywords Extremum seeking Control Localization Nonholonomic agent Delay Predic tor

اسدي، امير

مكان يابي غيرهولونوميك منبع در حضور تأخير حسگر با استفاده از كنترل اكسترمم ياب

كنترل اكسترمم ياب , مكان يابي , تأخير , عامل غيرهولونوميك , فيدبك پيش بين