UAV formation control based on distributed Kalman model predictive control algorithm

To address the perturbation of formation multiple unmanned aerial vehicles (UAVs) subject to external disturbances, an algorithm distributed Kalman model predictive control is proposed in this paper improve accuracy maintaining a flight. A UAV two-order discrete-time system was built before devising prediction based on standard model. The desired configuration and neighbor optimal state estimation were conducted determine reference UAVs. While taking into account tracking error input stability, logarithmic barrier function introduced design overall cost ensure flight safety. Meanwhile, information exchanged with neighbors directed time-invariant communication topological structure. With Lyapunov stability theorem, sufficient conditions defined for asymptotic system. Simulation results revealed that could effectively suppress UAVs arising from allowing cope conflicts between individual