Multi-UAVs distributed formation control method

The invention relates to a multi-UAVs distributed formation control method. The method includes following steps: n unmanned aerial vehicles are deployed in a preset area, wherein n is an integer greater than or equal to 3; the unmanned aerial vehicles can actively obtain relative position information of the adjacent unmanned aerial vehicles in a self inertia coordinate system; and the unmanned aerial vehicles calculate the expected speed of the unmanned aerial vehicles via a distributed control algorithm and perform speed control so that the unmanned aerial vehicles maintain a given distance, and a triangular chain formation is formed when the system is stable. According to the formation control method, the convergence is good, the system can be guaranteed to be stable, the communication network can be prevented from being attacked, the system anti-interference capability is improved, and compared with the conventional formation control algorithm, the required calculation resource is fewer, and the required control quantity is more easily obtained.