论文标题
非线性模型预测控制框架，用于三个代理目标防御游戏
Nonlinear Model Predictive Control Framework For Cooperative Three-Agent Target Defense Game
论文作者
论文摘要
本文使用非线性模型预测控制（NMPC）框架为目标攻击者（TAD）游戏提供了合作目标防御指导策略。 TAD游戏由攻击者和合作目标授予者对组成。攻击者的目标是捕获目标，而目标遭到目标的团队一起行动，以便防守者可以拦截攻击者并确保目标生存。我们假设合作目标授予者对没有对攻击者状态的完美知识，因此，使用扩展的卡尔曼过滤器（EKF）估算了状态。进行基于Apollonius圆圈的捕获分析以识别目标存活区域。通过广泛的数值模拟评估了基于NMPC的解决方案的功效。结果表明，基于NMPC的解决方案为不同的未知攻击者模型提供了鲁棒性，并且比CLOS和基于A-CLOS的策略具有更好的性能。
This paper presents cooperative target defense guidance strategies using nonlinear model predictive control (NMPC) framework for a target-attacker-defender (TAD) game. The TAD game consists of an attacker and a cooperative target-defender pair. The attacker's objective is to capture the target, whereas the target-defender team acts together such that the defender can intercept the attacker and ensure target survival. We assume that the cooperative target-defender pair do not have perfect knowledge of the attacker states, and hence the states are estimated using an Extended Kalman Filter (EKF). The capture analysis based on the Apollonius circles is performed to identify the target survival regions. The efficacy of the NMPC-based solution is evaluated through extensive numerical simulations. The results show that the NMPC-based solution offers robustness to the different unknown attacker models and has better performance than CLOS and A-CLOS based strategies.
