Multi-UAV Formation Control Based on Distributed Model Predictive Control*

This paper presents a distributed model predictive control (DMPC) algorithm for multiple unmanned aerial vehicle (Multi-UAV) formation tracking. This algorithm takes into account the rapidly formation and maintenance of multi-UAV formation, and each UAV only needs to accept the information of neighbor nodes (UAVs) for real-time online rolling optimization. The DMPC scheme enables all followers to form the desired formation while tracking the leader. The Lyapunov function is constructed by the sum of local cost functions, and it is proved that the asymptotic stability can be guaranteed under the conditions of satisfying the proposed terminal constraints and weights. Finally, the effectiveness of the proposed algorithm is illustrated by simulation.