Adaptive Dynamic Programming for A Nonlinear Single-Pursuer Single-Evader Differential Game
作者单位：Nanjing University of Science and Technology
会议名称：《第43届中国控制会议》
会议日期：1000年
学科分类：0711[理学-系统科学] 12[管理学] 1201[管理学-管理科学与工程(可授管理学、工学学位)] 07[理学] 08[工学] 070105[理学-运筹学与控制论] 081101[工学-控制理论与控制工程] 071101[理学-系统理论] 0811[工学-控制科学与工程] 0701[理学-数学]
关 键 词：Single-pursuer Single-evader Differential Game Adaptive Dynamic Programming Stackelberg Equilibrium
摘 要：This paper investigates a single-pursuer single-evader(SPSE) differential game. Unlike traditional treatments, both the dynamics of the pursuer and the evader are nonlinear which makes the linear quadratic regulation can not be applicable. To solve this problem, this paper constructs the critic neural network(NN) framework to approximate the solution of the HamiltonJacobi-Isaacs(HJI) equations through the adaptive dynamic programming(ADP) method. The interception condition, i.e., the stability of the system is also analyzed via the Lyapunov theorem. A numerical example is presented to illustrate that and the results show that the critic NN weights estimation error and the system are uniformly ultimately bounded(UUB), i.e., the pursuer can successfully intercept the evader.