In order to achieve a new minimum energy interception of an arbitrarily maneuvering vehicle a nonlinear modal is first approximated by a series of local linear models using an on-line linearizing method for some state variables, and then from the derived local linear models a new optimal strategy is developed using the receding horizon concept and associated techniques. That evader maneuvering in a small scope can be dealt with by the correspoding local linear model, and its maneuverring in a large scope is handled by model switching among a series of local linear models. Simulation results show that tile system designed in this way can intercept a randomly maneuvering evader.
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