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

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