| Citation: | QIN M X，WANG Z，LI H L，et al. Obstacle avoidance control of UAV formation based on distributed model prediction[J]. Journal of Beijing University of Aeronautics and Astronautics，2024，50（6）：1969-1981 （in Chinese） doi: 10.13700/j.bh.1001-5965.2022.0509
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To ensure and keep the formation of unmanned aerial vehicles (UAVs) facing obstacles, a distributed model predictive control (DMPC) algorithm without reference trajectory considering system constraints was proposed. Firstly, in order to deal with constraint coupling and cost coupling in model predictive control (MPC), the hypothetical trajectory was introduced to design low-conservative compatibility constraints and cost functions without reference trajectories so that the algorithm could be executed in a distributed manner synchronously. Secondly, the terminal constraints were designed based on the velocity obstacle method to ensure the security of the terminal domain, and a feasible terminal control input was given. Then, the cost function was taken as the Lyapunov function, and combined with the constructed stability constraints, the iterative feasibility and system stability of the algorithm were analyzed. In addition, to ensure real-time performance, based on the proposed algorithm, a non-strictly stable DMPC algorithm that could meet the requirements of formation obstacle avoidance was developed. Finally, the validity and superiority of the proposed algorithm were verified by numerical simulation.
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