UAV Formation Centralized Control Method Under Cooperative Flight Missions

Multi-UAV cooperative mission is an important development trend of unmanned system application, and multi-UAV autonomous flight formation control ability is the premise of performing diversified missions. Firstly, the importance of UAV formation in today's military and civil fields and the difficulties to be solved in formation control are analyzed. The formation cooperative control is divided into centralized and distributed control modes. The characteristics of centralized cooperative control methods are introduced. The typical methods such as leader-follower, virtual structure and model predictive control are analyzed, and their advantages and disadvantages are compared and discussed. Finally, the difficult problems in the field of UAV formation flight cooperative control are deeply explored, and several feasible improvement ways are given to guide the follow-up research and development direction of UAV cooperative control.