Trajectory Tracking for Discrete-Time UAVs Formation Using Improved Model Predictive Control with Packet Dropout

This paper studies a model predictive tracking control scheme under packet dropout for multiple unmanned aerial vehicles (UAVs). To solve the tracking control problem of multiple UAVs cooperatives with packet dropout, we propose a dynamic tracking control strategy combined with an improved model predictive control (MPC) method. Firstly, a time-varying leader-follower cooperative tracking control model is established. Secondly, a tracking control scheme of the UAV using an improved MPC method with kinematics constraints is proposed, and a control input adjust term is designed to restrain the jump phenomenon of the control input. Finally, simulation results show the effectiveness of the proposed control strategy.