Dynamic encirclement of a moving target using decentralized nonlinear Model Predictive Control

Dynamic encirclement is a tactic which can be employed by a group of UAVs to neutralize a target by restricting its movement, or provide constant surveillance of a target. The aim of the UAVs in the formation is to move into a position close to the target and establish a moving formation around the target. In this paper, the problem of creating a dynamic circular formation around a moving target is considered, and a Decentralized Model Predictive Control (DMPC) policy is formulated. Using theoretical results, a stabilizing control policy is derived, and the policy is validated through simulation results. Furthermore, we examine the effects of communications between the UAVs and the use of a model target on the performance of the UAVs. The contributions of this paper are the extension of the dynamic encirclement tactic to the case of a group of UAVs and a moving target, the consideration of a target model and communications, and the application of theoretical stability analysis to the problem.