Abstract: Aiming at the requirements of cooperative control for multiple UAVs based on local information connection, the distributed architecture of Multi-UAV system is established on the basis of multilayer structure. The communication network topology, state control information model and intelligent Ad-Hoc network mechanism are proposed to ensure the reliable interactive communication among multiple UAVs under local information connection. The cooperative collision avoidance strategy with local state prediction and distributed iterative optimization, combined with the cooperative on-line track planning and threat avoidance control methods, are applied to realize the cooperative control of Multi-UAV's task execution process. Simulation experiments verify the effectiveness of the proposed methods.

Key words: local information connection, multi-UAV, cooperative control, state control information model, track planning, threat avoidance