通过扭矩调谐的非完整源搜索：局部和半全局反馈
Nonholonomic Source Seeking by Torque Tuning: Local and Semi-Global Feedbacks
AI总结：
研究扭矩控制非完整车辆在未知环境中通过横向传感器搜索源的问题，提出结合快速振荡和缓慢偏置调谐的扭矩律，实现局部和半全局实用稳定性。
摘要：
本文研究具有横向位移标量传感器的扭矩控制非完整车辆的源搜索问题。车辆具有恒定前进速度，其偏航运动由未知惯性和阻尼的扭矩输入控制。目标是将车辆引导至以源为中心的圆周运动，使得横向传感器接近未知源，而不使用位置、航向、源位置、梯度或源值信息。所提出的扭矩律结合了快速振荡分量（通过对称积近似生成平均转向）和缓慢调谐的偏置分量（选择期望轨道）。开发了两种偏置调谐设计。第一种是仅使用标量测量的输出反馈设计；它应用李括号极值搜索更新，并产生局部实用稳定性。第二种是使用前进速度和偏航率测量的速度辅助设计；它通过偏航率跟踪误差调谐偏置，并产生全局渐近稳定的平均系统，意味着原始系统的半全局实用稳定性。仿真结果说明了所提出的设计。
英文摘要：
This paper studies source seeking for a torque-controlled nonholonomic vehicle with a laterally displaced scalar sensor. The vehicle has constant forward speed, while its yaw motion is controlled by torque input with unknown inertia and damping. The objective is to steer the vehicle to a source-centered circular motion so that the lateral sensor approaches the unknown source, without using position, heading, source-location, gradient, or source-value information. The proposed torque law combines a fast oscillatory component, which generates averaged steering through symmetric-product approximation, with a slowly tuned bias component, which selects the desired orbit. Two bias-tuning designs are developed. The first is an output-feedback design using only the scalar measurement; it applies a Lie-bracket extremum-seeking update and yields local practical stability. The second is a velocity-assisted design using forward-speed and yaw-rate measurements; it tunes the bias through the yaw-rate tracking error and yields a globally asymptotically stable averaged system, implying semi-global practical stability of the original system. Simulations illustrate the proposed designs.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
