Communication Dans Un Congrès Année : 2024

An Evader Controller for the Pursuit-Evasion Problem involving Single Integrator Dynamics

Manuel Mera
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Héctor Ríos

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.

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Automatique
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Dates et versions

hal-04895367 , version 1 (18-01-2025)

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  • HAL Id : hal-04895367 , version 1

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Manuel Mera, Héctor Ríos, Denis Efimov. An Evader Controller for the Pursuit-Evasion Problem involving Single Integrator Dynamics. Proc. IEEE CDC, Dec 2024, Milan, Italy. ⟨hal-04895367⟩
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