{"ID":2850369,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2510.22402","arxiv_id":"2510.22402","title":"Model-Free Optimization and Control of Rigid Body Dynamics: An Extremum Seeking for Vibrational Stabilization Approach","abstract":"In this paper, we introduce a model-free, real-time, dynamic optimization and control method for a class of rigid body dynamics. Our method is based on a recent extremum seeking control for vibrational stabilization (ESC-VS) approach that is applicable to a class of second-order mechanical systems. The new ESC-VS method is able to stabilize a rigid body dynamic system about the optimal state of an objective function that can be unknown expression-wise, but assessable through measurements; the ESC-VS is operable by using only one perturbation/vibrational signal. We demonstrate the effectiveness and the applicability of our ESC-VS approach via three rigid-body systems: (1) satellite attitude dynamics, (2) quadcopter attitude dynamics, and (3) acceleration-controlled unicycle dynamics. The results, including simulations with and without measurement delays/noise, illustrate the ability of our ESC-VS to operate successfully as a new methodology of optimization and control for rigid body dynamics.","short_abstract":"In this paper, we introduce a model-free, real-time, dynamic optimization and control method for a class of rigid body dynamics. Our method is based on a recent extremum seeking control for vibrational stabilization (ESC-VS) approach that is applicable to a class of second-order mechanical systems. The new ESC-VS metho...","url_abs":"https://arxiv.org/abs/2510.22402","url_pdf":"https://arxiv.org/pdf/2510.22402v5","authors":"[\"Rohan Palanikumar\",\"Ahmed A. Elgohary\",\"Simone Martini\",\"Sameh A. Eisa\"]","published":"2025-10-25T19:01:00Z","proceeding":"math.OC","tasks":"[\"math.OC\"]","methods":"[]","has_code":false}