Abstract:A distributed formation control algorithm based on the Model Reference Adaptive Consensus (MRACon) framework combined with model predictive control (MPC) is proposed for the control problem of unmanned aerial vehicle clusters considering collision constraints. First, a distributed formation algorithm is designed for asymmetric directed graphs within the framework of model reference consistency. Second, the cost function of MPC is designed to track the reference model, and the nonconvex collision constraints are linearized to ensure that the MPC algorithm could quickly solve problems within the convex optimization framework. The constraints considered in this article include inter-aircraft collision avoidance constraints, control input constraints, flight area constraints, speed limit constraints, etc. Finally, the safety of the formation control algorithm designed in this paper in terms of collision avoidance between aircraft is verified through simulation.