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Tuvshinbayar Chantsalnyam,Kil To Chong 제어로봇시스템학회 2016 제어로봇시스템학회 각 지부별 자료집 Vol.2016 No.01
A new control scheme based on extremum seeking control (ESC) which employs a constrained derivative-free optimization algorithm has been proposed in this paper. The obstacles are expressed as a constraint function, instead of traditional ways of calculating the performance function. A theorem has been formulated to prove the convergence result of ESC based on constrained derivative-free optimization. Unlike traditional derivative-free optimizaions, generalized pattern search method does not require continuously differentiable and Lipschitz conditions. Generalized pattern search method with filter algorithm for constraint, generates a sequence of ESC control state. Simulation establishes multiagent system, which uses the control algorithm to avoid the obstacles, that appear on the way of multiagent robots. By the simulation results, multiagents avoid obstacle successfully without colliding, follow target and maintain their formation as per their given formation condition.
Obstacle Avoidance Extremum Seeking Control based on Constrained Derivative-free Optimization
Tuvshinbayar Chantsalnyam,박종호,함운철,한찬호,정길도 제어·로봇·시스템학회 2017 International Journal of Control, Automation, and Vol.15 No.6
A new control scheme based on extremum seeking control (ESC) which employs a constrainedderivative-free optimization algorithm has been proposed in this paper. A theorem has been formulated to prove theconvergence result of ESC based on constrained derivative-free optimization. Generalized pattern search methodwith filter algorithm for constraint is used to generate a sequence of ESC control state. Since generalized patternsearch (GPS) method does not require continuously differentiable and Lipschitz conditions, noise cancellation algorithmis added to the proposed ESC algorithm which is then used for multi-agent robot system. The obstacles areexpressed 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 avoidobstacles that appear on the path of multi-agent robots. Based on the simulation results, it can be observed thatmulti-agents maintain their formation as per initial condition and follow the target without colliding into obstacleswhile navigating in a noisy environment. Performance comparison of the proposed algorithm with a referencealgorithm shows the efficiency of the proposed algorithm.
Extended Integral Inequality for Stability Analysis of Time-delay Systems
Tuvshinbayar Chantsalnyam,Ji-Hyong Ryu,Kil To Chong 대한전자공학회 2021 IEIE Transactions on Smart Processing & Computing Vol.10 No.1
In this paper, we propose an extension of the generalized free-weighting-matrix based integral inequality, which is an enriched special case of the conventional inequality. This improved inequality requires less conservative criteria, since the vectors can be chosen independently and freely. By applying the proposed inequality combined with a double integral inequality to evaluate the derivative of Lyapunov-Krasovskii functional, a new stability criterion is formulated for a system with a time delay. To illustrate the effectiveness of the new stability criteria, we take three commonly used numerical examples. Simulation results confirm the effectiveness of the proposed approach.