Formation control of UAV-USV based on distributed event-triggered adaptive MPC with virtual trajectory restriction

This paper studies the formation and trajectory tracking problem of unmanned aerial vehicle -unmanned surface vehicle (UAV-USV). A distributed event -triggered adaptive model predictive control (DEAMPC) method is constructed for the formation control by using information of the adjacent vehicles. First, the preset formation equation and parameter change are incorporated into the construction process of the cost function to achieve the formation control. Second, in order to reduce the calculation times of the optimization problem, an eventtriggered mechanism is proposed. Finally, the virtual trajectory restriction is designed to deal with the condition of interrupted communication network. Moreover, some simulation results are given to illustrate the advantages and effectiveness of all the above methods.