This paper studies source seeking for a torque-controlled nonholonomic vehicle with a laterally displaced scalar sensor. The vehicle has constant forward speed, while its yaw motion is controlled by torque input with unknown inertia and damping. The objective is to steer the vehicle to a source-centered circular motion so that the lateral sensor approaches the unknown source, without using position, heading, source-location, gradient, or source-value information. The proposed torque law combines a fast oscillatory component, which generates averaged steering through symmetric-product approximation, with a slowly tuned bias component, which selects the desired orbit. Two bias-tuning designs are developed. The first is an output-feedback design using only the scalar measurement; it applies a Lie-bracket extremum-seeking update and yields local practical stability. The second is a velocity-assisted design using forward-speed and yaw-rate measurements; it tunes the bias through the yaw-rate tracking error and yields a globally asymptotically stable averaged system, implying semi-global practical stability of the original system. Simulations illustrate the proposed designs.
Accurate and efficient parameter estimation is essential for applying electrochemical battery models in simulation, state estimation, control, and repeated model updating. However, conventional optimization methods, such as particle swarm optimization (PSO) and genetic algorithms…
Advanced control methods have proven effective for controlling cavity pressure, a key determinant of part-quality attributes, in the plastics injection molding process. However, the abstract nature of the resulting control laws makes them difficult to interpret in a production en…
We consider the problem of learning high-dimensional semi-global feedback controllers under hard safety constraints enforced by control barrier functions (CBFs). Incorporating CBFs into end-to-end policy training requires embedding a quadratic-program-based safety filter as an op…
The coordination of a large number of flexibility-providing units across various grid layers requires innovative control concepts. This is needed, e.g., to allow active distribution systems to provide ancillary services for the transmission system. A cascaded control structure ba…
Interturn short circuits are among the most critical faults in permanent magnet synchronous motor drives, as they combine localized heating in the shorted stator phase with electrical asymmetry that distorts the current feedback used for torque-producing control. This article pro…
Explainable AI (XAI) is important for deploying machine learning systems in domains where stakes are very high and where transparency, trust and accountability are critical. Although black box models like deep neural networks often perform with high efficiency, interpreting their…