Tactic Switching For Multiple UAV Teams via Model Predictive Control

Intelligent and flexible control strategies are required to allow teams of Unmanned Aerial Vehicles (UAVs) to cooperate in order to accomplish a multitude of challenging group tasks. Decentralized Model Predictive Control (MPC) is used to solve the problem of tactic switching for two teams of N UAVs. The UAVs teams accomplish a desired formation tactic, assign themselves to a desired target and then switch to dynamic encirclement around the chosen target. A high-level Linear Model Predictive Control (LMPC) policy is used to control the UAV team during the execution of the desired formation approach, while a combination of decentralized LMPC and Feedback Linearization (FL) is applied on the teams to accomplish dynamic encirclement tactic. The main contribution of this paper lies inthe use of MPC policy to solve the tactic switching problem of two UAV teams around several targets while ensuring the stability and robustness of the system during the simulation.