Robust pursuit of a hybrid evader

A pursuit-evasion differential game with bounded controls and prescribed duration is considered. The evader has two possible dynamics, while the pursuer dynamics is fixed. The evader can change the dynamics once during the game. The pursuer knows the possible dynamics of the evader, but not the actual one. The optimal pursuer strategy in this game is obtained. It is robust with respect to the control of the evader, the order of its dynamics and the time of the mode change. The capture conditions of the game are established and the pursuer capture zone is constructed. An illustrative example of the game is also presented.