Formation of Generic UAVs-USVs System Under Distributed Model Predictive Control Scheme

This brief presents a distributed model predictive formation control algorithm of heterogeneous multi-agent systems with directed topology, which consists of unmanned surface vehicles (USVs) and generic unmanned aerial vehicles (UAVs). The dynamics of UAVs and USVs are modeled by the Newton-Euler equation and Euler-Lagrange equation, respectively. We design the distributed model predictive control scheme to coordinate the UAVs-USVs system, where both feasibility and stability analyses are presented to guarantee the satisfactory formation. Simulation results demonstrate the effectiveness of the proposed distributed predictive formation algorithm.