Stochastic Source Seeking with Tuning of Forward Velocity

  • Shu-Jun Liu
  • Miroslav Krstic
Part of the Communications and Control Engineering book series (CCE)


An alternative approach to source seeking for nonholonomic vehicles is presented, employing the tuning of the forward velocity, instead of tuning of the angular velocity. In contrast to the approach employing the tuning of angular velocity, where the vehicle never stops as it heads to the source and then enters a complex attractor in an annulus around the source, in the approach employing the tuning of the forward velocity the trajectories consist of back-and-forth arc-shaped motions that converge on the average to the source. The averaging analysis reflects the fact that tuning of the angular velocity yields a superior transient performance, while tuning of the forward velocity yields a superior asymptotic performance.


  1. 90.
    Liu S-J, Krstic M (2010) Stochastic source seeking for nonholonomic unicycle. Automatica 46:1443–1453 MathSciNetzbMATHCrossRefGoogle Scholar
  2. 138.
    Tao G (2003) Adaptive control design and analysis. Wiley, New York zbMATHCrossRefGoogle Scholar
  3. 146.
    Zhang C, Arnold D, Ghods N, Siranosian A, Krstic M (2007) Source seeking with nonholonomic unicycle without position measurement and with tuning of forward velocity. Syst Control Lett 56:245–252 MathSciNetzbMATHCrossRefGoogle Scholar

Copyright information

© Springer-Verlag London 2012

Authors and Affiliations

  1. 1.Department of MathematicsSoutheast UniversityNanjingPeople’s Republic of China
  2. 2.Department Mechanical & Aerospace EngineeringUniversity of California, San DiegoLa JollaUSA

Personalised recommendations