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

被引：0

作者：

Zhang, Peng ^{[1
]}

Yuan, Yuan ^{[1
]}

Liu, Huaping ^{[2
]}

机构：

[1] Northwestern Polytech Univ, Sch Astronaut, Xian 710072, Peoples R China

[2] Tsinghua Univ, Dept Comp Sci & Technol, Beijing 100084, Peoples R China

来源：

2020 5TH INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS (ICARM 2020) | 2020年

关键词：

ZERO-SUM GAMES; ALGORITHM;

D O I：

10.1109/icarm49381.2020.9195379

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：62 / 67

页数：6

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