Formation Control of Fixed-Wing Uavs Using Mpc: Effect of Vehicle Speed

Abstract

As UAV technology has progressed, its applications have expanded across various sectors such as Surveillance, Military, Maintenance, and Delivery. Due to their cost-effectiveness and safety in operations, UAVs have gained rapid popularity in these domains. Scenarios demanding the coordinated flight of multiple UAVs have become prevalent, leading to various formation types and control strategies tailored to specific use cases. Among these control mechanisms, Model Predictive Control (MPC) has found application in UAV formation flight. This study focuses on the development and implementation of MPC for the formation flight of fixed-wing UAVs. Experiments were conducted utilizing a setup involving three UAVs, elucidating the functionality of MPC and examining the impact of variations in the speed parameter on MPC performance.