Publisher DOI: 10.23919/ACC53348.2022.9867235
Title: Robust Performance Analysis of Source-Seeking Dynamics with Integral Quadratic Constraints
Language: English
Authors: Datar, Adwait 
Werner, Herbert 
Issue Date: Jun-2022
Source: American Control Conference (ACC 2022)
Abstract (english): 
We analyze the performance of source-seeking dynamics involving vehicles embedded in an underlying scalar field with gradient based forcing terms. We leverage the recently developed framework of α-integral quadratic constraints (IQCs) to obtain convergence rate estimates. We first present the hard Zames-Falb (ZF) α-IQCs involving general non-causal multipliers and show that a parameterization of the ZF multiplier, suggested in the literature for the standard version of the ZF IQCs, can be adapted to the α-IQCs setting. Owing to the time-domain arguments, we can seamlessly extend these results to linear parameter varying (LPV) vehicles possibly opening the doors to non-linear vehicle models with quasi-LPV representations. We illustrate the theoretical results on a linear time invariant (LTI) model of a quadrotor, a non-minimum phase LTI example and an LPV example of a quadrotor with two modes which show a clear benefit of using general non-causal dynamic multipliers to drastically reduce conservatism.
Conference: American Control Conference, ACC 2022 
ISBN: 9781665451963
ISSN: 0743-1619
Journal: Proceedings of the American Control Conference 
Institute: Regelungstechnik E-14 
Document Type: Chapter/Article (Proceedings)
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