UAV Formation Flight Based on Nonlinear Model Predictive Control

Table 1

Control inputs constraints of each UAV.

𝑣max	200m/s
𝑣min	100m/s
|𝑣̇max|	20m/s
𝛾max	30deg
𝛾min	−30deg
|𝛾̇max|	20deg/s
𝛼𝑣	3.2s
𝛼𝛾	0.6𝑠