Aimed at the problems that there are the inconsistency and unreality in tracking and formation control objectives of multiple unmanned systems, an autonomous predictive control algorithm is designed in guaranteeing the consistency and reality of control objectives. Firstly, according to the given tracking and formation control objectives, the cost function is redesigned for each unmanned system by introducing planned control objective, solving the inconsistency in tracking and formation control objectives. Then, some additional constraints of the introduced planned objective are designed to guarantee its reality, and further to achieve the convergence to planned control objective, the terminal constraint set is designed for each unmanned system under condition of predictive control framework. Finally, for each unmanned system, an individual control optimization problem is constructed through combining the redesigned cost function and all designed constraints, and an associated autonomous control algorithm is presented for implementation. With applying the presented algorithm by each unmanned system, a consistent and realizable control objective can be planned based on the given inconsistent and unrealizable tracking and formation control objectives, and can be achieved by the whole multiple unmanned systems. By introducing Linear Matrix Inequalities (LMI) technique, the constructed control optimization problem is casted into LMI form and can be solved through LMI toolbox of MATLAB. The simulation results in MATLAB show that the algorithm is valid.