论文标题
通过电涌力调整寻求未射的来源：理论和船只实验
Underactuated Source Seeking by Surge Force Tuning: Theory and Boat Experiments
论文作者
论文摘要
在没有位置和速度测量值的情况下，我们扩展了寻求算法的来源，并且通过调整激发输入的调整，从速度驱动的（Unicycle）运动学模型到强制输入的通用Euler-Lagrange动力学动力学不足的模型。在设计和分析中，我们采用了对称产品近似，平均，消极和部分状态稳定性理论。拟议的控制定律只需要在车辆当前位置对源信号进行实时测量，并确保相对于闭环系统的线性运动坐标，半全球实用均匀渐近渐近稳定性（SPUA）。通过数值模拟和无人机船的实验来说明我们的来源寻求者的性能。
We extend source seeking algorithms, in the absence of position and velocity measurements, and with tuning of the surge input, from velocity-actuated (unicycle) kinematic models to force-actuated generic Euler-Lagrange dynamic underactuated models. In the design and analysis, we employ a symmetric product approximation, averaging, passivity, and partial-state stability theory. The proposed control law requires only real-time measurement of the source signal at the current position of the vehicle and ensures semi-global practical uniform asymptotic stability (SPUAS) with respect to the linear motion coordinates for the closed-loop system. The performance of our source seeker with surge force tuning is illustrated with both numerical simulations and experiments of an underactuated boat.
