Optimal Formation Control and Visual Simulation for Multiple Unmanned Aerial Vehicles (UAVs)

With the rapid advancement of Unmanned Aerial Vehicle (UAV) technology, their assigned missions have become significantly more intricate. Individual UAVs are no longer sufficient to meet these diverse and demanding requirements. There is now a shift towards employing multiple UAVs operating collaboratively to address complex tasks, replacing the reliance on singular units. This study focuses on the complexities of coordinated flight within UAV formations. A dynamic consensus optimal control algorithm is proposed for distributed formations, grounded in optimal control theory. Furthermore, the enhanced control method is validated via simulation on a semi-physical visualization platform, effectively closing the gap between real-world formation requirements and simulation outcomes. The results from these simulations underscore that the proposed method effectively preserves UAV formation integrity and demonstrates exceptional applicability in real-world scenarios.