Robust pursuit of a hybrid evader — The generalized solution

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 its dynamics once during the game. The initial lateral acceleration of the evader is non-zero. The pursuer knows the possible dynamics of the evader, but not the actual one. The capture zone and the capture guaranteeing pursuer strategy are obtained. This strategy is robust with respect to the evader control, the order of the dynamics and the switch time moment.