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“…To design the feedback control law for the defender, we consider a Lyapunov function candidate, V 5 = |σ 5 |, whose time differentiation results in V5 = sign(σ 5 ) σ5 . On substituting the defender's control law, (36), in V5 and using (38), one may obtain…”
Section: Direct Cooperationmentioning
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“…To design the feedback control law for the defender, we consider a Lyapunov function candidate, V 5 = |σ 5 |, whose time differentiation results in V5 = sign(σ 5 ) σ5 . On substituting the defender's control law, (36), in V5 and using (38), one may obtain…”
Section: Direct Cooperationmentioning
“…In the expression of the defender's defensive control law, (36), the first term corresponds to the deviated pursuit law while the second term represents the information from various engagements between the agents. The third and the fourth terms in (36) contain the information about the evader's and the pursuer's strategies, respectively. The last term in (36) is the fixed-time convergent sliding mode error correction term responsible for enforcing sliding mode on the manifold, σ 5 .…”
Section: Direct Cooperationmentioning
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