The strategy of coordinated pursuit for a first-order differential game with Gronwall-Bellman constraints

Автор: Doliyev O.B.

Журнал: Мировая наука @science-j

Рубрика: Основной раздел

Статья в выпуске: 9 (90), 2024 года.

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In this work, we will consider a simple pursuit differential game of the fitst order when Gronwall-Bellman constraints imposed on control functions of the players. The proposed method substantiates the parallel approach strategy in this line differential game of the fitst order. The new sufficient solvability conditions are obtained for problem of the pursuit.

Differential game, geometrical constraint, gronwall-bellman constraint, evader, pursuer, strategy, parallel pursuit

Короткий адрес: https://sciup.org/140306454

IDR: 140306454

Текст научной статьи The strategy of coordinated pursuit for a first-order differential game with Gronwall-Bellman constraints

Let in the space R” the controlled object P (the pursuer), chases another object E (the evader). Suppose Л and У are the locations of the pursuer and the evader respectively, and Wo (*o * Jo) are their initial locations. The motions of the objects are described by the equations

P : x = и, x(0) = x0,

E: y = v, j(o)= v0, where x,y,u,v e R \ n > 2.

In the present, the concept of the first type of Gronwall-Bellman constraint [1] for the control w(‘) is introduced in the form

|w(/)|2 ^ p1 +2j/^)|w(^)|2 ds, 0

-negative number and i ^s^ is a non-negative function. The first type of where p is a non

Gronwall-Bellman constraint generalizes geometrical constraint when /(^) = O.

Similarly, the concept of the first type of Gronwall-Bellman constraint for the control v0 is introduced in the form

-negative number and i ^s^ is a non-negative function where a is a non

Here, и is the velocity vector of the pursuer and here the temporal variation of и must the set of all measurable

GB

be a measurable function w(-): [0, + oo) ^ R" We denote by U functions ^(’) satisfying Gronwall-Bellman constraint (3) (briefly, GB -constraint)

Similarly, v is the velocity vector of the evader and here the temporal variation of v must be a measurable function v(-):[0,+oo)->R". We denote by V(

GB

the

set of all measurable functions v(') satisfying the GB -constraint (4)

Definition 1. For a pair of is,

^O,W0), w(-)eUGS the solution of the equation (1), that

x(/) = x0 + ^i/^s)ds is called a trajectory of the pursuer on interval Z > 0

Definition 2 . For a pair of(.УоХ-)), v(-)eVG5 the solution of the equation (2), that is,

is called a trajectory of the evader on interval

Definition 3. The pair of classes of admissible controls introduced

(^ GB ? ^GB ) defines differential game (1)-(4) with constraints of the Gronwall-Bellman type or briefly, GB -game.

Definition 4. In the GB -game, the pursuit problem is called to be solved if there exists such control function

of the pursuer for any control function

of the

evader and the following equality holds at some finite time [

x(O = y(t ) .

Definition 5. If Р>(У, then

1^bM = v-\;bM^

is called ^ ^ GB -strategy of the pursuer ([3]-[4]) in the

GB -game,

where

product of the vectors v and ^0 in the space R .

zo and

is the

scalar

Note that

Lemma 1. (of Gronwall-Bellman). If

|®(/)|2 < cr + 2 j/(^)|ffl(5)|' ds, then

where G)(t\ / >0 is a measurable function and (X is a non-negative number and^ ^^ ^ is a non-negative function

Now we will introduce a notation

Property 1. If р>ф then the function ^GB ^^ is continuous, nonnegative and defined for all the control functions V(') such that satisfies the GB -constraint (3)

Property 2. If P>C>, then the following inequality is true for the function

Theorem. If p>a and l(s)>0 in the Gr -game, then the П -strategy of the player

P is winning on interval [0. 7U where ^GB is a positive solution of an equation

Proof. Suppose the pursuer choose the strategy (6) when the evader chooses any control function 'O G Ngb • Then according to the equations (1)-(2), we have the following Cauchy problem:

:0, z(0) = z0.

Thus the following solution is found by the given initial conditions or

According to the properties (1)-(2), we will form the following inequality

By solving an equation л(о = о we get a positive solution ^GB

From this, we have

This finishes the proof of the theorem

Список литературы The strategy of coordinated pursuit for a first-order differential game with Gronwall-Bellman constraints

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