Distributed multi-unmanned aerial vehicle formation reconstruction control method

The invention discloses a multi-unmanned aerial vehicle formation reconstruction control method based on distribution, and the method comprises the steps: building a communication topological relation among a multi-unmanned aerial vehicle system model, an expected formation, and unmanned aerial vehicles; according to a given undirected communication topological relation, the unmanned aerial vehicles receive and send states of the unmanned aerial vehicles and obstacle information by using an ad hoc network module; potential energy functions of all the unmanned aerial vehicles are calculated, and obstacle avoidance control force is calculated in the position gradient direction; designing an inter-unmanned aerial vehicle collision avoidance controller based on the Hooke's law with damping; designing a multi-unmanned aerial vehicle formation tracking controller based on a consistency theory; and controlling the corresponding unmanned aerial vehicles according to the designed obstacle avoidance controller, the int