Aiming at the problem of UAV formation tracking,and considering the avoidance of static and dynamic obstacles,a formation tracking and obstacle avoidance control algorithm based on synchronous distributed model predictive control(DMPC)is proposed.Firstly,within the framework of the DMPC,cost function is designed with trajectory tracking and formation maintenance as the objectives.And collision avoidance and obstacle avoidance are treated as constraint conditions.Secondly,the velocity obstacle(VO)method is integrated with collision avoidance,obstacle avoidance,and compatibility constraints,and terminal constraints are designed to achieve the function of avoiding dynamic obstacles.Thirdly,based on the new terminal constraints,with the principle of ensuring formation system stability,complete terminal components are designed,which are compatible with them.Furthermore,under new constraints and terminal components,the stability of the formation system is analyzed based on the Lyapunov theory.Finally,the effectiveness and superiority of the proposed algorithm in formation tracking and obstacle avoidance are verified through simulation.
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