Abstract
In this paper, the distributed optimization problem for multi-agent system (MAS) formation control of unmanned aerial vehicles (UAVs) is suggested here. The situation that the internal states of a single UAV can be made fully available was aimed at, the internal optimal control law of a single UAV is designed using the optimal control theory. To cope with the obstacle that each agent in the system can only communicate with its neighbor agents, the distributed formation control law of the system is introduced based on the communication topology of the system, and further the stability of the system is analyzed in helps of graph theory. The validity of the suggested scheme is verified by both the numerical simulation and UAV platform.
https://ror.org/018rbtf37 
