Extremum seeking for constrained inputs

Abstract

Extremum seeking control (ESC) is an adaptive control scheme that locates an extremum of an input-output map, without any explicit knowledge of this map apart from its existence. As is typical in adaptive control an integrator is used to drive the parameters that are being adapted. Due to this integrator, it is possible that the adapted parameters wander outside their physically relevant domain as the underlying adaptation technique is blind to this constraint. As these constraints may represent realistic operational limits it is important to design ESC to respect them. Two such ESC schemes are proposed. One is based on a constrained optimization approach in which some penalty function is us..