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arXiv · 2501.04275

Sensor-Noise Mitigation in Extremum Seeking Control Using Adaptive Numerical Differentiation

Shashank Verma·Juan Augusto Paredes Salazar·Jhon Manuel Portella Delgado·Ankit Goel·Dennis S. Bernstein
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Abstract

Extremum-seeking control (ESC) is widely used to optimize performance when the system dynamics are uncertain. However, sensitivity to sensor noise is a crucial issue in ESC implementation due to the use of high-pass filters or gradient estimators. To reduce the sensitivity of ESC to noise, this paper investigates the use of the recently developed adaptive input and state estimation (AISE) technique for numerical differentiation. In particular, this paper develops extremum-seeking control with adaptive input and state estimation (ESC/AISE), where AISE replaces the high-pass filter of ESC to improve performance under sensor noise. The effectiveness of ESC/AISE is illustrated via numerical examples.

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Shashank Verma, Juan Augusto Paredes Salazar, Jhon Manuel Portella Delgado, Ankit Goel, Dennis S. Bernstein. 2025-01-08. Sensor-Noise Mitigation in Extremum Seeking Control Using Adaptive Numerical Differentiation. https://arxiv.org/abs/2501.04275

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