Practical prescribed-time seeking of a repulsive source by unicycle angular velocity tuning

DOI10.1016/J.AUTOMATICA.2023.111069MaRDI QIDQ6175595zbMATH OpenOpenAlexFDO

Authors Velimir Todorovski, Miroslav Krstic

Publication date 24 July 2023

Published in Automatica (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/2204.04118

Mathematics Subject Classification ID

Feedback control (93B52) Time-scale analysis and singular perturbations in control/observation systems (93C70) Finite-time stability (93D40)

Abstract: All the existing source-seeking algorithms for unicycle models in GPS-denied settings guarantee at best an exponential rate of convergence over an infinite interval. Using the recently introduced time-varying feedback tools for prescribed-time stabilization, we achieve source seeking in prescribed time, i.e., the convergence to a small but bounded neighborhood of the source, without the measurements of the position and velocity of the unicycle, in as short a time as the user desires, starting from an arbitrary distance from the source. The practical convergence is established using a singularly perturbed version of the Lie bracket averaging method, combined with time dilation and time contraction operations. The algorithm is robust, provably, even to bounded nonvanishing perturbations and an arbitrarily strong gradient-dependent repulsive velocity drift emanating from the source.

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Cited in

(4)

• Practical prescribed-time seeking of a repulsive source by unicycle angular velocity tuning
• Prescribed-time stability in switching systems with resets: a hybrid dynamical systems approach
• Exponential and prescribed-time extremum seeking with unbiased convergence
• Decentralized adaptive practical prescribed-time control via command filters

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