UAV Formation Control under Communication Constraints Based on Distributed Model Predictive Control

Abstract

A distributed model predictive control method is used to transform the formation and maintenance problem of fixed-wing UAV formation during flight into an online rolling optimization problem to solve in this paper. Firstly, the state estimation model of the neighborhood UAV is established according to the relative information of the UAV. Secondly, the error state model in the three-dimensional inertial coordinate frame of the UAV is established without considering the time delay, sensor error, and external interference. Thirdly, a cost function is designed by introducing the error state of the UAV in the neighborhood. Finally, four UAVs are used to verify that under the action of the controller, the UAVs can quickly form and maintain the desired formation while tracking the reference line.