追逃逃避差分游戏

完美的状态信息游戏(Perfect State Information Game)

Consider a Perfect State Information (PSI), where the state x is available. The Linear Time-Invariant (LTI) system, with the appropriate dimensions, is given by:

考虑状态x可用的完美状态信息(PSI)。 具有适当尺寸的线性时不变(LTI)系统由下式给出：

where A is the dynamic matrix, B is the pursuer control vector, and D is the evader control vector. The problem is to find a control u which minimizes and w which maximizes the cost function:

其中A是动态矩阵， B是追踪者控制向量， D是逃避者控制向量。 问题在于找到一个使u最小化而w最大化成本函数的控制：

xf is the final state, Q is the weight matrix, R and W are the control weight matrices, and gamma is the disturbance attenuation ratio.

xf是最终状态， Q是权重矩阵， R和W是控制权重矩阵， gamma是干扰衰减率。

不完善的状态信息游戏 (Imperfect State Information Game)

Consider an Imperfect State Information(ISI), where x is not available. The LTI system, with the appropriate dimensions, is given by:

考虑不完整状态信息(ISI)，其中x不可用。 具有适当尺寸的LTI系统由以下方式给出：