The latest ESAP is 3.1.4 and the List of Supported Products for V3 and V4 (https://www.pulsesecure.net/techpubs/pulse-connect-secure/esap/3.1.x) both list support up to Kaspersky Internet Security ( 17.x ).
Are you using ESAP 3.1.4? Sometimes when a new version of an AV is released the methods used for older versions still succeed, so I would suggest trying out ESAP 3.1.4 first.
If that fails can you open a support ticket and request that support for Kaspersky Internet Security ( 18.x ) be added to a future ESAP release. If you could also add to the case the diagnostic output from ESAP 3.1.4, it can be downloaded at the same location as the ESAP 3.1.4 package on our download centre, see http://kb.pulsesecure.net/articles/Pulse_Secure_Article/KB28146/ for more details.