Overshoot-free nonholonomic source seeking in 3-D

摘要

This paper studies the problem of steering a nonholonomic vehicle with a constant forward velocity to localize a source in 3-D. Of two existing 3-D source-seeking strategies, one causes overshoots of the vehicle around the source while the other shows slow convergence rate in approaching the source. We propose a composite of these 2 control strategies to achieve a balanced performance by taking advantage of both strategies. Moreover, we prove local exponential stability for a static spherical signal map using averaging and describe the influence of the parameters using root locus method. Simulation results further validate the effectiveness and advantages of the combined strategy.