Abstract: Aiming at the problem that traditional UAV swarm flight control needs planning too many flight paths, a distributed cooperative controller composed of the linear quadratic regulator(LQR) and inter agent collision avoidance is designed. There is no need to design relative configuration for the swarm, only a flight path input satisfying the dynamics constraints for the UAV is given, the swarm can fly along the path. By designing an adaptive communication topology, the controller can stabilize the chattering effect caused by adding the inter agent collision avoidance mechanism, which also makes the swarm have good scalability. The simulation results show that the distributed controller designed here can realize the stable flight of UAV swarm with no inter agent collision under one path input.

Key words: Adaptive communication topology, Weak path constraints, Distributed control, Linear quadratic regulator(LQR), Inter agent collision avoidance