关键词: 轨迹跟踪, 分布式模型预测控制, 拉盖尔函数, 延时补偿, 离散控制屏障函数

Abstract: Aiming at the problem of prominent delay effect and high computational resource requirements in UAV formation trajectory tracking, a relaxed distributed model predictive control algorithm based on delay compensation strategy and Laguerre function is proposed. Based on the distributed model predictive control framework, a discrete motion model of UAV formation is established, and the Laguerre function is introduced to parameterize the control inputs, which significantly improves the computational efficiency. Dynamic adjustment of constraints to avoid obstacle and inter-agent collisions is achieved through a discrete-time control barrier function and the slack variable mechanism. For the error accumulation problem caused by sampling delay, computation delay and communication delay, a multi-delay coupling compensation synchronization strategy is proposed to effectively guarantee the stable control of formation coordination. The simulation results show that the proposed algorithm demonstrates convergence of trajectory tracking errors and enhancement in dynamic responsiveness under random perturbation conditions. Furthermore, it meets the requirements for real-time performance and reliability, providing an effective solution to the trajectory tracking challenges faced by UAV formation in complex environments. Keywords: trajectory tracking; distributed model predictive control; Laguerre function; delay compensa

Key words: trajectory tracking, distributed model predictive control, Laguerre function, delay compensation, discrete-time control barrier function