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 | URI: | http://hdl.handle.net/11420/13757 | ISBN: | 9781665451963 | ISSN: | 0743-1619 | Journal: | Proceedings of the American Control Conference | Institute: | Regelungstechnik E-14 | Document Type: | Chapter/Article (Proceedings) |
Appears in Collections: | Publications without fulltext |
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