Research on MPC formation control algorithm based on centralized-distributed information interactive strategy

With the development and progress of intelligent control technology, communication technology and unmanned aerial vehicle (UAV) technology, performing the tasks depending on UAV which is loaded with various sensors has come true. The tradition centralized information interactive strategy has many disadvantages such as large amount of computation, long time of computation, poor anti-inference ability, and there also exists some shortcuts for distributed information interactive strategy such as accuracy is not enough. In order to solve the problems above, firstly this paper proposes a centralized-distributed information interactive strategy, and then designs the formation control law based on MPC, finally conduct simulation and analysis for a formation which is made up of fifteen UAVs. The simulation results show that the proposed method is effective and reliable.