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

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