Implementing and testing a nonlinear model predictive tracking controller for aerial pursuit/evasion games on a fixed wing aircraft

Flight test and simulation results are presented for a Nonlinear Model Predictive Tracking Controller (NMPC) used in pursuit and evasion maneuvers in three dimensions on a fixed wing Unmanned Aerial Vehicle (UAV) for the purposes of pursuit/evasion games (PEGs) against a piloted F-15 aircraft. These controllers are shown to be effective for both asymmetric and symmetric PEGs. While the capability of UAVs to perform autonomously has not yet been demonstrated, this is an important step to enable at least limited autonomy in such aircraft to operate with temporary loss of remote control, or when confronted with an adversary or obstacles for which remote control is insufficient. Such capabilities have been under development in the Software Enabled Control (SEC) program and were recently tested in the Capstone Demonstration of that program.