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Mathematical Problems in Engineering
Volume 2014, Article ID 835301, 11 pages
Research Article

Multimodel Predictive Control Approach for UAV Formation Flight

1Air Force Engineering University, Xi’an 710038, China
2Science and Technology on Aircraft Control Laboratory, FACRI, Xi’an 710065, China

Received 20 December 2013; Revised 10 March 2014; Accepted 25 March 2014; Published 6 May 2014

Academic Editor: Leo Chen

Copyright © 2014 Chang-jian Ru et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


Formation flight problem is the most important and interesting problem of multiple UAVs (unmanned aerial vehicles) cooperative control. In this paper, a novel approach for UAV formation flight based on multimodel predictive control is designed. Firstly, the state equation of relative motion is obtained and then discretized. By the geometrical method, the characteristic points of state are determined. Afterwards, based on the linearization technique, the standard linear discrete model is obtained at each characteristic state point. Then, weighted model set is proposed using the idea of T-S (Takagi-Sugeno) fuzzy control and the predictive control is carried out based on the multimodel method. Finally, to verify the performance of the proposed method, two different simulation scenarios are performed.