Max-min controllability in pursuit games with norm-bounded controls

In this article, we consider max-min controllability in linear pursuit games with norm-bounded controls. Our approach is based on the separation theorem of disjoint compact convex sets in Euclidean space. Necessary and sufficient conditions for max-min controllability are given in terms of an explicit relative controllability expression which, in a sense, is a comparison between the control capabilities of the competing parties. Minimal time and optimal norm problems are investigated.