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We apply stochastic extremum seeking to navigate a nonholonomic unicycle towards the maximum of an unknown, spatially distributed signal field, using only the measurement of the signal at the vehicle's position but without the measurement of the vehicle's position. Keeping the forward velocity constant and controlling only the angular velocity, we design a stochastic source seeking control law which...
This paper proposes a novel policy-iteration-based adaptive optimal scheme for uncertain continuous-time linear systems with excitation signals. The proposed method can solve the related linear quadratic optimal control problem in online fashion exactly and safely. In order to maintain persistence excitation condition, the controller injects the small excitation signals to the system. For this linear...
Thanks to their cheap startup costs, flexibility, and standard infrastructure re-usability, Networked Control Systems have gained the attention of both the control community and the industry. Unfortunately, the presence of communication networks might introduce nondeterminism due to (random) delays and/or (unpredictable) information losses. In this paper, an event-based model predictive control approach...
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