A dynamic extremum seeking scheme for three-player attack-defense with unknown gradient. Issue 2 (January 2022)

• Record Type: Journal Article
• Authors: Cheng, Lei; Yuan, Yuan; Liu, Huaping
• Is Part Of: Journal of the Franklin Institute. Volume 359:Issue 2(2022)
• Page Start: 1457
• Page End: 1482
• Publication Date: 2022-01
• Subjects: Science -- Periodicals; Technology -- Periodicals; Patents -- United States -- Periodicals; 505
• DOI: 10.1016/j.jfranklin.2021.11.035
• Languages: English
• ISSNs: 0016-0032

Abstract

Abstract: In this paper, a dynamic extremum seeking scheme is designed for a class of three-player attack-defense problems with unknown gradient, where an attacker intends to strike a non-maneuverable headquarters, while a defender attempts to prevent this attack. Firstly, a kinematic equation is utilized to model the defender's patrolling algorithm based on the law of gravitation. Then, a gradient estimation algorithm is employed to obtain derivatives of performance functions. In virtue of the Lyapunov function method, sufficient conditions are derived to guarantee the asymptotical stability of the closed-loop dynamic extremum seeking system. Finally, a group of simulations on wheeled mobile robot systems are exploited to illustrate the effectiveness of the proposed extremum seeking scheme.