Nonlocal Nonholonomic Source Seeking Despite Local Extrema

In this paper, we investigate the problem of source seeking with a unicycle in the presence of local extrema. Our study is motivated by the fact that most of the existing source seeking methods follow the gradient direction of the signal function and thus only lead to local convergence into a neighborhood of the nearest local extremum. So far, only a few studies present ideas on how to overcome local extrema in order to reach a global extremum. None of them apply to second-order (force- and torque-actuated) nonholonomic vehicles. We consider what is possibly the simplest conceivable algorithm for such vehicles, which employs a constant torque and a translational/surge force in proportion to an approximately differentiated measured signal. We show that the algorithm steers the unicycle through local extrema towards a global extremum. In contrast to the previous extremum-seeking studies, in our analysis we do not approximate the gradient of the objective function but of the objective function's local spatial average. Such a spatially averaged objective function is expected to have fewer critical points than the original objective function. Under suitable assumptions on the averaged objective function and on sufficiently strong translational damping, we show that the control law achieves practical uniform asymptotic stability and robustness to sufficiently weak measurement noise and disturbances to the force and torque inputs

Advanced control and optimisation of DC-DC converters with application to low carbon technologies

Prompted by a desire to minimise losses between power sources and loads, the aim of this Thesis is to develop novel maximum power point tracking (MPPT) algorithms to allow for efficient power conversion within low carbon technologies. Such technologies include: thermoelectric generators (TEG), photovoltaic (PV) systems, fuel cells (FC) systems, wind turbines etc. MPPT can be efficiently achieved using extremum seeking control (ESC) also known as perturbation based extremum seeking control. The basic idea of an ESC is to search for an extrema in a closed loop fashion requiring only a minimum of a priori knowledge of the plant or system or a cost function. In recognition of problems that accompany ESC, such as limit cycles, convergence speed, and inability to search for global maximum in the presence local maxima this Thesis proposes novel schemes based on extensions of ESC. The first proposed scheme is a variance based switching extremum seeking control (VBS-ESC), which reduces the amplitude of the limit cycle oscillations. The second scheme proposed is a state dependent parameter extremum seeking control (SDP-ESC), which allows the exponential decay of the perturbation signal. Both the VBS-ESC and the SDP-ESC are universal adaptive control schemes that can be applied in the aforementioned systems. Both are suitable for local maxima search. The global maximum search scheme proposed in this Thesis is based on extensions of the SDP-ESC. Convergence to the global maximum is achieved by the use of a searching window mechanism which is capable of scanning all available maxima within operating range. The ability of the proposed scheme to converge to the global maximum is demonstrated through various examples. Through both simulation and experimental studies the benefit of the SDP-ESC has been consistently demonstrated

Condensates and Singularities in String Theory

We derive a class of solutions to the string sigma-model equations for the closed bosonic string. The tachyon field is taken to form a constant condensate and the beta-function equations at one-loop level are solved for the evolution of the metric and the dilaton. The solutions represent critical string theories in arbitrary dimensions. The spectrum of the subclass of models with a linearly rising asymptotic dilaton is found using the Feigin-Fuks method. Certain approximate solutions arising in string field theory are used to illustrate the results explicitly. An argument based on conformal invariance leads to the conjecture that that stringy corrections to at least some singular spacetimes in general relativity result in non-singular metrics. We use the singularities of the big-bang/crunch type appearing in our models to examine this conjecture.Comment: 20 pages, DAMTP-R92-40, IUHET 24

Physical parameters and basis transformations in the Two-Higgs-Doublet model

A direct connection between physical parameters of general Two-Higgs-Doublet Model (2HDM) potentials after electroweak symmetry breaking (EWSB) and the parameters that define the potentials before EWSB is established. These physical parameters, such as the mass matrix of the neutral Higgs bosons, have well defined transformation properties under basis transformations transposed to the fields after EWSB. The relations are also explicitly written in a basis covariant form. Violation of these relations may indicate models beyond 2HDMs. In certain cases the whole potential can be defined in terms of the physical parameters. The distinction between basis transformations and reparametrizations is pointed out. Some physical implications are discussed.Comment: 11 pages. 1 figure. v2: references and comments adde

Unified analysis of terminal-time control in classical and quantum systems

Many phenomena in physics, chemistry, and biology involve seeking an optimal control to maximize an objective for a classical or quantum system which is open and interacting with its environment. The complexity of finding an optimal control for maximizing an objective is strongly affected by the possible existence of sub-optimal maxima. Within a unified framework under specified conditions, control objectives for maximizing at a terminal time physical observables of open classical and quantum systems are shown to be inherently free of sub-optimal maxima. This attractive feature is of central importance for enabling the discovery of controls in a seamless fashion in a wide range of phenomena transcending the quantum and classical regimes.Comment: 10 page