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ANALYSIS OF THE PURSUIT-EVASION PROCESS FOR MOVING PLANTS UNDER UNCERTAIN OBSERVATION ERRORS DEPENDENT ON STATES
Vsevolod M. Kuntsevich*, Alexei V. Kuntsevich**
* Space Research Institute
40a Prospekt Akademika Glushkova, Kiev, Ukraine
E-mail: adapt@space.is.kiev.ua
** Institute for Mathematics, University of Graz,
Heirichstr., 36, A-8010 Graz, Austria
E-mail: alexei.kuntsevich@uni-graz.at
The paper presents a solution to the pursuit problem under the presence of bounded (non-stochastic) errors in state measurements for the evader and under uncertain evader’s controls bounded within the given compact set. It also provides the worst-case solution conditions, meaning the the worst-case evader’s controls and observation errors, and the methods aiming for fulfillment of these conditions. Finally, we calculate the worst-case estimate for the number of discrete-time steps (observations) required for bringing the pursuer in the given neighborhood of evader.
Keywords: uncertainty, set values, control system synthesis, optimal control, bounded disturbances, discrete systems, invariant set, pursuit problem
Session slot T-We-A02: Set-membership estimation for uncertain dynamics and control/Area code 3a : Modelling, Identification and Signal Processing
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