UAVs in Formation and Dynamic Encirclement Via Model Predictive Control

Switching between the formation flight tactic and the dynamic encirclement tactic for a team of Unmanned Aerial Vehicles (UAVs) is done using a decentralized approach. A team formed from N UAVs, accomplishes a line-of-breast formation then dynamic encirclement around a desired target. A high-level Linear Model Predictive Control (LMPC) policy is used to control the UAV team during the execution of the required formation tactic, while a combination of decentralized LMPC and Feedback Linearization (FL) is implemented on the UAV team to accomplish dynamic encirclement. During the simulations, Reynold’s rules of flocking are respected. The linear plant, representing each UAV, is found through System Identification. The main contribution of this paper lies in the use of LMPC to implement multiple UAV tactics while ensuring stability and robustness of the system during tactic switching.