论文标题
通过Unicycle Ancular Velocity Tuning进行实用的处方时间寻求排斥源
Practical Prescribed-Time Seeking of a Repulsive Source by Unicycle Angular Velocity Tuning
论文作者
论文摘要
在GPS有限的设置中，所有现有的单轮模型的源源寻求算法最多可以在无限间隔内以指数的收敛速率保证。使用最近引入的时间变化的反馈工具进行规定的时间稳定，我们实现了在规定的时间内寻求的来源，即，即汇聚到源源的较小但有界的邻域的收敛性，而无需从任意距离来源的时间开始，而没有时间的时间，而没有时间的时间，而不是用户愿望的时间。使用Lie支架平均方法的奇异扰动版本与时间扩张和时间收缩操作相结合，建立了实用的收敛。该算法是强大的，即使在有界的非驱动扰动和任意强大的梯度依赖性排斥速度漂移中，也是从源头发出的。
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.
