NMPC-Based Cooperative Strategy to Lure Two Attackers Into Collision by Two Targets

This letter presents a cooperative target defense strategy using nonlinear model-predictive control (NMPC) framework for two–target two–attacker (2T2A) problem. Each attacker needs to capture designated individually. The objective of the two targets is cooperate such that they lure attackers into collision. We assume do not have perfect knowledge states, and hence estimate states EKF. NMPC scheme computes closed-loop optimal commands while satisfying state constraints. Theoretical analysis carried out determine escape regions will lead targets’ survival or capture. Numerical simulations are evaluate performance proposed NMPC-based different scenarios validating theoretical results.