Adaptive Hessian Estimation Based Extremum Seeking Control

In this paper we design an adaptive motion control scheme for steering a mobile sensory agent in 2D toward the source of a signal field using the signal intensity the agent continuously measures at its current location. The signal field is modeled to be a quadratic function of location, with its extremum (maximum) at the signal source location. The proposed adaptive control design is based on on-line estimation of the Hessian parameters of the field model and the extremum location. Simulation test results verify the established properties of the proposed scheme as well as robustness to signal measurement noise.