Normalized Extremum Seeking and Its Application to Nonholonomic Source Localization

A suitable normalization technique is introduced to improve the robustness properties of the conventional perturbation-based extremum seeking (ES). Following practical stability analysis, an appropriate expression is found for the normalization signal in the proposed normalized ES. Application of the proposed scheme in the source localization with nonholonomic unicycle has an additional advantage of ensuring that forward and angular velocities of the unicycle have a priori known bounds.