Extremum-seeking control for optimization of time-varying steady-state responses of nonlinear systems

Leroy Hazeleger (Corresponding author), Mark Haring, Nathan van de Wouw

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Abstract

Extremum-seeking control (ESC) is a useful tool for the steady-state performance optimization of plants for which limited knowledge about its dynamical behavior and disturbance situation is known. The case when the steady-state plant responses correspond to equilibrium solutions received a lot of attention. However, in many industrial applications plant performance is characterized by time-varying steady-state behavior. In those cases, no static parameter-to-steady-state performance map can be defined. In this work, we propose an ESC method that employs a so-called dynamic cost function to cope with time-varying steady-state responses of general nonlinear systems. We prove semi-global practical asymptotic stability of the closed-loop ESC scheme in the presence of bounded and time-varying external disturbances. Moreover, the working principle is illustrated by means of the real-time performance optimal tuning of a nonlinear control strategy for a motion control application.
Original languageEnglish
Article number109068
Number of pages13
JournalAutomatica
Volume119
DOIs
Publication statusPublished - 1 Sept 2020

Funding

This work is part of the research programme CHAMeleon with project number 13896, which is (partly) financed by the Netherlands Organisation for Scientific Research (NWO), The Netherlands. Mark Haring was with the Centre for Autonomous Marine Operations and Systems, Department of Engineering Cybernetics, NTNU, Norwegian University of Science and Technology, 7491 Trondheim, Norway. The work of Mark Haring is sponsored by the Research Council of Norway with project number 250725, and through the Centres of Excellence, Norway funding scheme, project number 223254 - Centre for Autonomous Marine Operations and Systems (NTNU-AMOS). This work is part of the research programme CHAMeleon with project number 13896 , which is (partly) financed by the Netherlands Organisation for Scientific Research (NWO), The Netherlands . Mark Haring was with the Centre for Autonomous Marine Operations and Systems, Department of Engineering Cybernetics, NTNU, Norwegian University of Science and Technology, 7491 Trondheim, Norway. The work of Mark Haring is sponsored by the Research Council of Norway with project number 250725 , and through the Centres of Excellence, Norway funding scheme, project number 223254 - Centre for Autonomous Marine Operations and Systems (NTNU-AMOS).

FundersFunder number
Centre for Autonomous Marine Operations and Systems, Department of Engineering Cybernetics
NTNU-AMOS
Norges Teknisk-Naturvitenskapelige Universitet
Senter for Autonome Marine Operasjoner og Systemer
Nederlandse Organisatie voor Wetenschappelijk Onderzoek
Norges Forskningsråd223254, 250725
National Taiwan Normal University

    Keywords

    • Adaptive control
    • Extremum-seeking control
    • Performance optimization
    • Semi-global practical stability
    • Time-varying systems

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