An Evader Controller for the Pursuit-Evasion Problem involving Single Integrator Dynamics
Résumé
This paper contributes to the design of an evader controller for the pursuit-evasion problem, where both agents are described by single integrator dynamics. The proposed evader controller only requires a slight knowledge of the pursuer control law and state. The control law guarantees the evasion of the pursuer under a proper design of the evader controller parameters. Moreover, the synthesis of the evader controller is constructive and simple-to-tune since it is in terms of a linear matrix inequality. The stability analysis of the tracking error dynamics is based on a Lyapunov-like function approach. The effectiveness of the proposed evader control design is illustrated through some simulation results.
Domaines
AutomatiqueOrigine | Fichiers produits par l'(les) auteur(s) |
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