Distributed Model Predictive Formation Control for a Group of UAVs with Newton-Euler Dynamics

This paper presents a distributed model predictive control (DMPC) algorithm for the formation control problem of a group of unmanned aerial vehicles (UAVs). Newton-Euler equations are used to model a generic UAV dynamics at quasi-stationary situations such as hovering or cruising. Based on the generic UAV model, a DMPC algorithm is introduced to solve the formation control problem. Simulations with parameters of a real-world quadrotor drone demonstrate the effectiveness of the proposed algorithm.