基于分布式模型预测控制的多无人机协同规避控制技术

建立了多无人机协同规避控制模型，并提出了一种基于纳什最优的分布式模型预测控制算法。仿真结果表明，基于纳什最优的分布式模型预测控制算法有效地实现了多架无人机对障碍物的规避，并且相对于集中式模型预测控制算法减少了求解过程中的计算量，缩短了优化控制的时间，改善了系统的实时性。

Cooperative Avoid Control Technology of Multi-UAV Based on Distributed Model Predictive Control Algorithm

Multi-UAV cooperative avoid control model is built, and a predictive control algorithm based on Nash optimality distributed model is proposed. The simulation results show that the proposed algorithm method can make the UAV avoid obstacle effectively. In addition, the calculation of proposed algorithm is reduced enormously, consequently the running time of optimal control is shortened, and the real time of multi-UAV cooperative avoid control system is enhanced.