Real time tactic switching for multiple cooperative UAVs via Model Predictive Control

Intelligent and flexible control strategies are required to allow a team of cooperative Unmanned Aerial Vehicles (UAVs) to accomplish a multitude of challenging group tasks. In this paper, a real time implementation of a team of multiple cooperative UAVs performing a combination of UAV tactics is introduced. A team of N cooperative UAVs switches from a desired formation into a dynamic encirclement tactic around a desired stationary target in real time using a decentralized high-level Linear Model Predictive Control (LMPC)combined with Feedback Linearization (FL) technique in real time. During the experiments, the cooperative UAVs avoid collisions with nearby flockmates, attempt to match the velocity of other team members and attempt to stay close to other flockmates. The main contribution of this paper lies in the use of a predictive decentralized approach represented by the LMPC to solve the problem of tactic switching for a team of cooperative quadrotors in real time while ensuring the stability of the system during flight.