针对异构欠驱动无人船（USV）在编队航行中面临的安全避碰挑战，本文提出了一种基于分布式模型轨迹预测的无碰撞编队控制策略。通过“领航-跟随”（Leader-followers）模式生成编队参考轨迹，并结合分布式非线性模型预测控制（DNMPC）算法，设计了精确的编队轨迹跟踪控制器。本文创新性地引入结合硬约束和软约束的双重约束机制：不仅在编队外部引入障碍规避约束，还将编队内部的避碰问题建模为基于预测轨迹的时间参数化非线性状态约束，从而有效避免成员间过度接近导致的碰撞风险。最后，利用李雅普诺夫函数证明了所提方法具有输入到状态稳定性（ISS）。基于异构欠驱动三船编队的仿真结果验证了该方法在实现稳定队形保持、高效避碰和队形切换方面的有效性和可靠性。

To address the safety challenge of collision avoidance in formation navigation of heterogeneous under-actuated unmanned surface vehicles (USVs), this paper proposes a distributed model predictive trajectory-based collision-free formation control strategy. A formation reference trajectory is generated through the leader–followers scheme, and a distributed nonlinear model predictive control (DNMPC) algorithm is employed to design an accurate formation trajectory tracking controller. A novel dual-constraint mechanism with both hard and soft constraints is introduced: external obstacle avoidance constraints are considered, while the internal collision-avoidance problem is modeled as a time-parameterized nonlinear state constraint based on predicted trajectories, rather than solely on instantaneous positions. This design effectively prevents the risk of excessive proximity among formation members. Finally, input-to-state stability (ISS) of the proposed method is demonstrated by employing a Lyapunov function. Simulations on a three-vessel heterogeneous under-actuated formation demonstrate the effectiveness and reliability of the proposed method in efficient collision avoidance, stable formation-keeping and switching.