Model problem in a line with two pursuers and one evader
In the paper, an antagonistic differential game with two pursuers \(P_1\) and \(P_2\) and one evader \(E\) is investigated. The dynamics of pursuers and evader are described by the following differential equations: for player \(P_1\) \[ \ddot{z}_1=a_1,\quad\dot{a}_1=(u_1-a_1)/l_1,\quad |u_1|\leq\mu_1,\quad a_1(t_0)=0, \] for player \(P_2\) \[ \ddot{z}_2=a_2,\quad\dot{a}_2=(u_2-a_2)/l_2,\quad |u_2|\leq\mu_2,\quad a_2(t_0)=0, \] for player \(E\) \[ \ddot{z}_3=a_3,\quad\dot{a}_3=(v-a_3)/l_3,\quad|v|\leq\nu,\quad a_3(t_0)=0. \] Here \(u_1\), \(u_2\) and \(v\) are controls, \(z_i\) geometric coordinates, \(a_i\) accelerations and \(l_i\) time constants, \(i=1,2,3\). It is assumed that the pursuers act in coordination, their aim is to minimize the resultant miss \[ \min\big\{|z_1(T_1)-z_3(T_1)|,|z_2(T_2)-z_3(T_2)|\big\}, \] where \(T_1\) and \(T_2\) are fixed instants. In this work, a method for constructing optimal feedback controls is suggested on the basis of switching lines. The results of a numerical simulation are shown.
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