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Robust extremum seeking for a second order uncertain plant using a sliding mode controller

Solis Cesar, Clempner Julio, Poznyak Alexander

International Journal of Applied Mathematics and Computer Science

2019

Vol. 29, no. 4

703--712

This paper suggests a novel continuous-time robust extremum seeking algorithm for an unknown convex function constrained by a dynamical plant with uncertainties. The main idea of the proposed method is to develop a robust closed-loop controller based on sliding modes where the sliding surface takes the trajectory around a zone of the optimal point. We assume that the output of the plant is given by the states and a measure of the function. We show the stability and zone-convergence of the proposed algorithm. In order to validate the proposed method, we present a numerical example.