Mathematical Problems in Engineering
Volume 2012 (2012), Article ID 261367, 15 pages
Research Article

UAV Formation Flight Based on Nonlinear Model Predictive Control

Department of Control Engineering, Naval Aeronautical and Astronautical University, YanTai 264001, China

Received 14 July 2011; Revised 16 October 2011; Accepted 17 October 2011

Academic Editor: Massimo Scalia

Copyright © 2012 Zhou Chao et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


We designed a distributed collision-free formation flight control law in the framework of nonlinear model predictive control. Formation configuration is determined in the virtual reference point coordinate system. Obstacle avoidance is guaranteed by cost penalty, and intervehicle collision avoidance is guaranteed by cost penalty combined with a new priority strategy.