1

Problem diagram 1

Figure 1: case: 11 21 ,12 22

Pursuer 1

x 11 = u11 ,

x11 (0) = x110 ,

u211 (s)ds 211 ,

x 12 = u12 ,

x12 (0) = x120 ,

u212 (s)ds 212 .

Pursuer 2

x 21 = u21 ,

x21 (0) = x210 ,

u221 (s)ds 221 ,

x 22 = u22 ,

x22 (0) = x220 ,

u222 (s)ds 222 .

Evader
y 1 = v1 ,

y1 (0) = y10 ,

v12 (s)ds 12 ,

y 2 = v2 ,

y2 (0) = y20 ,
0

Consider the case 11 21 and 12 22 .

1

v22 (s)ds 22 .

L4 = {(, ) | 211 < 211 + 221 , 0 < 12 }.

Theorem
If (12 , 22 ) L4 , then pursuit can be completed.
1. Strategy for the pursuers
let (21 , 22 ) L4 . Then, clearly,
211 < 21 < 211 + 221 , 2 < 12 22 .
{

Set
u12 (t) =

{
u22 (t) =

1
12 (y10

x120 ) + v2 (t), 0 t 12 ,
v2 (t),
t > 12 ,

(1)

1
22 (y20

x220 ) + v2 (t), 0 t 22 ,
v2 (t),
t > 22 ,

(2)

where
(
12 =

y20 x120
12 2

)2

(
, 22 =

y20 x220
22 2

)2
(3)

2.Admissiblity of the strategies (1) and (2).Show admissibility of strategy

(1). We have

u212 (t)dt

)2

1
+
=
(y20 x120 ) + v2 (t) dt+
v22 (t)
12
0
12
0
12

12

1
2
=
(y20 x120 )2 +
(y20 x120 )
v2 (t)dt+
v22 (t)dt+
v22 (t)dt.
12
12
12
0
12

=(

12

12

)u212 (t)dt

Since
(
)1/2 (
)1/2
12
12 2
12 2
(1

v
(t))dt

1
dt
v
(t)dt
2
2
0
0
0

12 2 (3)

we obtain in view of (3) that

u212 (t)dt

1
12 (y20

x120 )2 +

2
12 (y20

x120 ) 2 12 + 22

1 (y20
12

x120 ) + 2

)2

= (12 2 + 2 )2 = 212 .

Admissiblity of the strategy (2) can be shown in a similar fashion.

3. Proof that pursuit can be completed.

According to Lemma 1, we have

x12
x12 (t)

= y2 (t), t 12 and x22 = y2 (t), t 22 ,

= y2 (t) and x22 (t) = y2 (t) for all t max{12 , 22 }

(4)

On [0,2 ] , we let
u11 (t) = 0, u21 (t) = 0, 0 t 2
Since 12 < 211 + 221 , then, according to Lemma 2, xi1 ( ) = y1 ( ) at some
i {1, 2} and 2 .

Therefore, using (4) we arrive xi ( ) = y( ), that is pursuit is completed.

Let (12 , 22 ) L3 , L3 = {(, ) | 0 < 211 , 0 < 212 + 222 }.
L3 = {(, ) | 0 < 211 , 0 < 12 + 22 }.

Theorem
If (12 , 22 ) L3 , then pursuit can be completed.
1. Strategy for the pursuers
let (21 , 22 ) L3 . Then, clearly,
1 < 11 21 , 22 < 212 + 222 .
3

Set
u11 (t) =

{
u21 (t) =

1
11 (y10

x110 ) + v1 (t), 0 t 11 ,
v1 (t),
t > 11 ,

(5)

1
11 (y10

x110 ) + v1 (t), 0 t 21 ,
v1 (t),
t > 21 ,

(6)

where
(
11 =

y10 x110
11 2

)2

(
, 21 =

y10 x210
21 2

)2
(7)

2.Admissiblity of the strategies (1) and (2). Show admissibility of (2). We

have

u211 (t)dt

)2

1
(y10 x110 ) + v1 (t) dt+
+
=
v12 (t)
11
0
11
11
0
11
11

1
2
=
(y10 x110 )2 +
(y10 x110 )
v1 (t)dt+
v12 (t)dt+
v12 (t)dt.
11
11
0
0
11

=(

11

11

)u211 (t)dt

Since
11

(1 v1 (t))dt

11
0

12 dt

)1/2 (

11
0

v12 (t)dt

)1/2

11 1 ,

we obtain

u211 (t)dt

1 (y10
11

1
11 (y10

x110 )2 +

x110 ) + 1

)2

2
11 (y10

x110 ) 1 11 + 12

= (11 1 + 1 )2 = 211 .

Admissiblity of the strategy (2) can be shown in a similar fashion.

3. Proof that pursuit can be completed.

According to Lemma 1, we obtain

x12
x12 (t)

= y2 (t), t 12 and x22 = y2 (t), t 22 ,

y2 (t) and x22 (t) = y2 (t) for all t max{12 , 22 }

(8)

Since 22 < 211 + 221 , then, according to Lemma 2, xi1 ( ) = y1 ( ) at some

i {1, 2} and 2 .
Therefore in view of equality, we have xi ( ) = y( ) for 2 .
Let (12 , 22 ) L1 , L1 = {(, ) | 211 < 221 , 212 < 222 }.
Theorem
If (12 , 22 ) L1 , then pursuit can be completed.

1. Strategy for the pursuers

Then, clearly,
211 < 12 < 221 , 12 < 2 < 22 .
{

Set
u12 (t) =

{
u22 (t) =
where

(
12 =

1
12 (y10

x120 ) + v2 (t), 0 t 12 ,
v2 (t),
t > 12 ,

(9)

1
22 (y20

x220 ) + v2 (t), 0 t 22 ,
v2 (t),
t > 22 ,

(10)

y20 x120
12 2

)2

(
, 22 =

y20 x220
22 2

)2
(11)

2.Admissiblity of the strategies (1) and (2). We have

u212 (t)dt = (

12

+
0

12

)u212 (t)dt =

12

)2

1
(y20 x120 ) + v2 (t) dt+
v22 (t)
12
12

1
2
=
(y20 x120 )2 +
(y20 x120 )
12
12

v22 (t)dt+

v2 (t)dt+
12

12

12

Since
12

(1 v2 (t))dt

12
0

12 dt

)1/2 (

12
0

v22 (t)dt

)1/2

12 2

we obtain

u212 (t)dt

1 (y20
12

1
12 (y20

x120 )2 +

x120 ) + 2

)2

2
12 (y20

x120 ) 2 12 + 22

= (12 2 + 2 )2 = 212 .

admissiblity of the strategy (2) can be shown in a similar fashion.

3. Proof that pursuit can be completed.

According to Lemma 1, we have

x12
x12 (t)

= y2 (t), t 12 and x22 = y2 (t), t 22 ,

=

y2 (t) and x22 (t) = y2 (t) for all t max{12 , 22 }

(12)

Since 12 < 211 + 221 , then, according to Lemma 2, xi1 ( ) = y1 ( ) at some

i {1, 2} and 2 .
Therefore xi ( ) = y( ) for 2 .

v22 (t)dt.