مكان يابي منبع بوسيله عامل غيرهولونوميك با سرعت زاويه اي كراندار مبتني بر كنترل اكسترمم ياب

چكيده انگليسي :

Source Localization via Nonholonomic Agent with Bounded Angular Velocity Based on Extremum Seeking Control Milad Ghane milad ghane72@yahoo com 2020 Department of Electrical and Computer Engineering Isfahan University of Technology Isfahan 84156 83111 Iran Degree M Sc Language Farsi Supervisor Associate Professor Mohsen Mojiri mohsen mojiri@iut ac ir Advisor Assistant Professor Mohammad Ali Ghadiri Modares ma ghadirimodarres@alumni iut ac irAbstractSource localization problem with autonomous agents in the form of single agent or multi agent is one of theactive research fields in control Source localization with the autonomous agents commonly has been done byprocessing of data that is obtained from localization equipments Because of inacessebility to the localizationequipments data in circumstances such as under water ice and furthermore the big budget of inertial navigationsystems source localization problem without using of localization equipments had been one of the considerablecases in the recent decades In the source localization problem without localization equipments it is assumedthat the agent is in a signal s field neighbor and that is used for seeking signal s source The distribution of thesignal s field is unknown however the intensity of the signal decreases as gets away from the source The onlyavailable data to control the agent is the data that has been received from the online measuring of the signal sfield by a sensor which is located on the autonomous agent Notes that the main purpose of agent is seekinga location corresponded to the maximum signal s value extremum seeking control as an non model basedoptimization is a suitable tool for source localization problem In the recent years source localization with thefirst order integrator second order integrator and non holonomic agents has been studied The non holonomicagent is cotrolled by tuning of its forward and angular velocities The unsuitable performance of the non holonomicagents in the transient and steady states is because of applying permanent excitation signals in their localizationschemes Recently a new scheme for source localization by non holonomic agent is proposed in which permanentexcitation signals arenot applied in it that causes improving its performance in transient and steady states In thisscheme one of the angular or forward velocities of the nonholonomic agent is being fixed at a constant valueand the other one is controlled by suitable filtering of its output value By assuming a quadratic distribution ofa signal s field exponential stability of this scheme is proved based on averaging theory Angular and forwardvelocities of the agent in this scheme are being controlled without a specified bound In this thesis this schemeis being modified such that the angular velocity of the agent has a specified and tunable bound by this means itsangular velocity control law being normalized suitably Using the normalizer formation makes stability analisistoo complicated and impossible for applying averaging theory Therefore stability analisis of the modifiedscheme has been done by Lie brackets and singular perturbations theory In this case global uniform practicalasymptotical stability SPUAS of the proposed source localization scheme in 2 D and 3 D with any kind of thedistribution of a signal s field not necessarily quadratic is being proved by two theorems Computer simulationsconfirm the accuracy of theoretical results Also these simulations shows the robust performance of the normalizedangular velocity control law against changes and uncertainties of the parameters of the signal s field distribution map Keywords 1 Source localization 2 Extremum seeking control 3 Nonholonomic agent 4 Practical Stability 5 Bounded angular velocity

قانع، ميلاد

مكان يابي منبع بوسيله عامل غيرهولونوميك با سرعت زاويه اي كراندار مبتني بر كنترل اكسترمم ياب

مكان يابي منبع , كنترل اكسترمم ياب , عامل غير هولونوميك , پايداري عملي , سرعت زاويه اي كراندار