From the perspective of efficiency, the working mode of agriculture spraying drones will cover the mode of single-machine action and multi-machine system. To this end, flight control should provide the ability to fly in formation and perform tasks in collaboration with multiple aircraft. When selecting the control structure, many factors should be considered in a comprehensive manner, including decomposing the mission of the entire fleet into specific goals for each agriculture spraying UAV, online mission planning , Online optimization of the mission's flight path and trajectory planning and tracking, coordination between different drones in the formation, reconfiguration control and fault management in consideration of environmental uncertainty and its own faults and damages. Therefore, advanced agriculture spraying UAV control must have an open platform structure, and be task-oriented and efficiency-oriented, including maximum scalability. In response to such requirements, the currently widely accepted solution is to select a hierarchical control structure and control technology.
