Abstract
In this paper we propose a novel framework for dealing with certain pursuit-evasion control problems. The distinctive feature of the framework relies in fact that the evader trajectory is not assumed perfectly known in advance but it is just assumed to belong to a pre-specified possible set of maneuvers. By taking inspiration from the output regulation theory we design a controller which embeds an internal model of the allowed evader maneuvers and which is able to achieve asymptotic perfect tracking robustly with respect to uncertainties affecting the pursuer dynamic and the evader trajectories.
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