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Obstacle avoidance extremum seeking control based on constrained derivative-free optimization

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  • Control Theory and Applications
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Abstract

A new control scheme based on extremum seeking control (ESC) which employs a constrained derivative-free optimization algorithm has been proposed in this paper. A theorem has been formulated to prove the convergence result of ESC based on constrained derivative-free optimization. Generalized pattern search method with filter algorithm for constraint is used to generate a sequence of ESC control state. Since generalized pattern search (GPS) method does not require continuously differentiable and Lipschitz conditions, noise cancellation algorithm is added to the proposed ESC algorithm which is then used for multi-agent robot system. The obstacles are expressed as constraint functions instead of the traditional way of calculating the performance function of obstacles. Simulation results illustrate a multi-agent obstacle avoidance system which utilized the control algorithm to avoid obstacles that appear on the path of multi-agent robots. Based on the simulation results, it can be observed that multi-agents maintain their formation as per initial condition and follow the target without colliding into obstacles while navigating in a noisy environment. Performance comparison of the proposed algorithm with a reference algorithm shows the efficiency of the proposed algorithm.

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Authors and Affiliations

  1. School of Electriconics and Information Engineering, Chonbuk National University, Keumam-dong, Deokjin-gu, Jeonju, 561-756, Korea

    Tuvshinbayar Chantsalnyam, Jong Ho Park, Woon Chul Ham & Kil To Chong

  2. Department of Broadcasting, Kangwon National University, Chuncheon, Korea

    Chan Ho Han

Authors
  1. Tuvshinbayar Chantsalnyam
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  2. Jong Ho Park
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  3. Woon Chul Ham
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  4. Chan Ho Han
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  5. Kil To Chong
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Corresponding authors

Correspondence to Chan Ho Han or Kil To Chong.

Additional information

Recommended by Associate Editor M. Chadli under the direction of Editor Jessie (Ju H.) Park. This research was financially supported by the Ministry of Trade, Industry and Energy(MOTIE), Korea Institute for Advancement of Technology(KIAT) through the International Cooperative R&D program. (N046200012) and the Brain Korea 21 PLUS Project, Business for Cooperative R&D between Industry, Academy, and Research Institute funded Korea Small and Medium Business Administration in 2016 (Grants No.1601001522).

Tuvshinbayar Chantsalnyam is a graduate student at the School of Electronics and Information Engineering at Chonbuk National University in Jeonju, Korea. He received his B.Sc. in electronics engineering and information technology at Mongolian University of Science and Technology and his M.S. in Chonbuk National University. He is working on network system control, neural networks and optimization.

Jong Ho Park received his Master degree of Mechatronics engineering, Chonbuk national university, Graduated February, 2003. Doctor of Philosophy of Control & Measurement engineering, Chonbuk national university, Graduated February, 2007. From November, 2014 until now, being served as a research assistant professor at Division of Mechanical Design engineering, Chonbuk national university. Main interesting field: Embedded system, robot control, system integrated, medical machine etc.

Woon Chul Ham received his BS, MS, and PhD degrees in electronic engineering from Seoul National University, Seoul, Korea, in 1979, 1982, and 1988, respectively. Since 1982, he has been with Chonbuk National University, Chonbuk, Republic of Korea, where he is currently a full professor of electronic engineering. His research interests include the fields of adaptive control, variable structure systems, fuzzy control, robot control, helicopter control, embedded system, photoacoustic imaging and 3D vision technology.

Chan Ho Han received the B.S., M.S., and Ph.D. degrees in Electronic Engineering, in 1990, 1992, and 2003, respectively, from Kyungpook National University, Daegu, Korea. During 1992–1997, he was an Assistant Engineer at the Media R&D Center, Hyundai Electronics Industrial Co., Ltd., Seoul. During 2000–2003, he was a full-time lecturer in the School of Multimedia Engineering at Kyungwoon University of Korea. During 2004–2008, he stayed in the School of Electronics and Computer Engineering at Kyungpook National University of Korea. From 2009, he is now with Kangwon National University of Korea. His current research interests include audio and video signal processing, embedded systems and their applications for DTV system applications.

Kil To Chong received his Ph.D. degree in Mechanical Engineering from TexasA&M University in 1995. Currently, he is a professor at the School of Electronics and Information Engineering at Chonbuk National University in Jeonju, Korea, and is head of the Advanced Research Center of Electronics. His research interests are in the areas of signal processing, motor fault detection, network system control, time-delay systems, and neural networks.

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Chantsalnyam, T., Park, J.H., Ham, W.C. et al. Obstacle avoidance extremum seeking control based on constrained derivative-free optimization. Int. J. Control Autom. Syst. 15, 2551–2560 (2017). https://doi.org/10.1007/s12555-016-0420-0

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  • DOI: https://doi.org/10.1007/s12555-016-0420-0

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