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Article

Extremum Seeking Control for Discrete-Time with Quantized and Saturated Actuators

1
Department of Chemical Engineering, Queens’ University, Kingston, ON K7L3N6, Canada
2
iRobot Corp., 8 Crosby Rd, Bedford, MA 01730, USA
*
Author to whom correspondence should be addressed.
Processes 2019, 7(11), 831; https://doi.org/10.3390/pr7110831
Received: 27 September 2019 / Revised: 31 October 2019 / Accepted: 4 November 2019 / Published: 8 November 2019
(This article belongs to the Special Issue Process Systems Engineering à la Canada)
This paper proposes an extremum-seeking controller (ESC) design for a class of discrete-time nonlinear control systems subject to input constraints or quantized inputs. The proposed method implements a proportional-integral ESC design along with a discrete-time anti-windup mechanism. The anti-windup enforces input saturation while preserving the input dither signal. The technique incorporates a mechanism for adjusting the amplitude of the extremum seeking control dither signal. This mechanism ensures that any violation of constraints due to the dither signal is removed while maintaining the probing signal active. An amplitude update routine is also proposed. The amplitude update is coupled with a saturation bias estimation algorithm that correctly accounts for the inherent bias associated with systems operated at or near saturation conditions. The amplitude update is designed to remove the dither signal when the system approaches the optimum. It also ensures that a lower bound of the amplitude is enforced to guarantee that excitation conditions are maintained. View Full-Text
Keywords: real-time optimization; constrained systems; extremum-seeking control real-time optimization; constrained systems; extremum-seeking control
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MDPI and ACS Style

Guay, M.; Burns, D.J. Extremum Seeking Control for Discrete-Time with Quantized and Saturated Actuators. Processes 2019, 7, 831. https://doi.org/10.3390/pr7110831

AMA Style

Guay M, Burns DJ. Extremum Seeking Control for Discrete-Time with Quantized and Saturated Actuators. Processes. 2019; 7(11):831. https://doi.org/10.3390/pr7110831

Chicago/Turabian Style

Guay, Martin, and Daniel J. Burns. 2019. "Extremum Seeking Control for Discrete-Time with Quantized and Saturated Actuators" Processes 7, no. 11: 831. https://doi.org/10.3390/pr7110831

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