针对传统UAV编队控制律显式考虑约束能力不强的不足,基于预测控制方法和虚拟结构控制策略,设计了一种分布式编队控制律。该控制律能显式地考虑各种约束,每个UAV仅需要滚动求解有限时域优化问题得到自身控制输入,提出了一种简单的代价惩罚的方法实现障碍规避,并将优先级策略引入UAV之间避碰中。仿真结果表明,所设计的编队控制律具有较好的性能。 Aiming at the deficiency of traditional UAV formation control law explicitly considering the constraint ability, a distributed formation control law is designed based on predictive control method and virtual structure control strategy. The control law can explicitly consider various constraints. Each UAV only needs to solve the finite time-domain optimization problem scrolling to obtain its own control input. A simple method of cost penalty is proposed to avoid obstacles and the priority strategy is introduced into the UAV Avoid collision. Simulation results show that the designed formation control law has better performance.