Synchronous Near-Optimal Control for Discrete-Time Nonlinear Pursuit-Evasion Game

Peng Zhang, Yuan Yuan, Huaping Liu

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

This paper studies the synchronous near-optimal controller design for nonlinear pursuit-evasion (PE) games. In the studied PE game, an agent called the pursuer endeavors to catch the escaping agent called the evader, while the evader tries to avoid getting caught. Firstly, an approximate discrete-time coupled Hamilton-Jacobi-Isaacs equation is developed to derive the saddle-point equilibrium. Then, the synchronous control strategy is established for the nonlinear PE game and its convergence is proven. Finally, a nonlinear aircraft system is employed to check the validity of the designed PE technique.

Original languageEnglish
Title of host publicationICARM 2020 - 2020 5th IEEE International Conference on Advanced Robotics and Mechatronics
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages62-67
Number of pages6
ISBN (Electronic)9781728164793
DOIs
StatePublished - Dec 2020
Event5th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2020 - Shenzhen, China
Duration: 18 Dec 202021 Dec 2020

Publication series

NameICARM 2020 - 2020 5th IEEE International Conference on Advanced Robotics and Mechatronics

Conference

Conference5th IEEE International Conference on Advanced Robotics and Mechatronics, ICARM 2020
Country/TerritoryChina
CityShenzhen
Period18/12/2021/12/20

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