Distributed stochastic source seeking and formation control based on delayed measurements  

作　　者：Pei-Pei ZHANG Lin-Yu YANG Shu-Jun LIU 

机构地区：[1]School of Mathematics,Sichuan University,Chengdu 610064,China [2]School of Data and Computer Science,Shandong Women’s University,Jinan 250300,China

出　　处：《Science China(Information Sciences)》2025年第3期315-333,共19页中国科学(信息科学)(英文版)

基　　金：supported by National Natural Science Foundation of China(Grant No.62473272);Natural Science Foundation of Sichuan Province,China(Grant No.2024NSFSC0437)。

摘　　要：In this paper,we design a distributed stochastic source seeking algorithm based on time-delay measurements to implement source seeking and formation control,so that vehicles can achieve and maintain a specific formation during the source seeking process.First,we present continuous-time stochastic averaging theorems for nonlinear delay-differential systems with stochastic perturbations.Then,based on the stochastic extremum seeking method and the leaderless formation strategy,we design a distributed stochastic source seeking algorithm based on time-delay measurements to navigate multiple velocity-actuated vehicles to search for an unknown source while achieving and maintaining a predefined formation,and the effect of the delay is eliminated by adopting the one-stage sequential predictor approach.Moreover,based on our developed stochastic averaging theorems,we prove that the average position of vehicles exponentially converges to a small neighborhood of the source in the almost sure sense,and vehicles can achieve and maintain a predefined formation.Finally,we provide numerical examples to verify the effectiveness of our proposed algorithm.

关 键 词：distributed source seeking formation control stochastic extremum seeking stochastic averaging time delays 

分 类 号：O231[理学—运筹学与控制论]