面向机动目标的多无人机自适应编队跟踪控制方法研究

As one of the key technologies in cooperative combat, formation tracking control technology has a wide range of application requirements in such tasks as cooperative detection-attack and formation attack of multiple manned/unmanned aerial vehicles. Through formation tracking control, UAVs can not only develop the advantages of time-varying formation effectively, but also keep tracking the trajectory of the target simultaneously, providing favorable preconditions for combat missions. In practical tasks, the target is generally a non-cooperative maneuvering target with constraints such as unknown target maneuvering acceleration and limited observable state, which poses a great challenge to formation tracking control technology. Under the background of multi-UAVs cooperative detection-attack, this research project focuses on the formation tracking control problem with various common constraints. The time-varying formation strategy for maneuvering target will be studied. An approach to design the distributed time-varying formation tracking controller will be presented. The criterion for achieving formation tracking with the unknown target maneuvering acceleration will be given. The formation tracking control problem with the limited communication and observation constraints will be investigated. An approach to design adaptive time-varying formation tracking controller will be proposed. Sufficient conditions for achieving formation tracking with multiple constraints will be presented. The above formation tracking methods will be verified by the self-developed cooperative experimental platform with multiple small UAVs.

作为集群作战中的关键技术之一，编队跟踪控制技术在协同侦查打击、有人机/无人机混合编队作战等任务中有着广泛的应用需求。通过编队跟踪控制，多无人机既能有效发挥时变编队的优势，又能同步保持对目标轨迹的跟踪，为后续的作战任务提供有利的先决条件。在实际任务中，跟踪目标一般是非合作的机动目标，存在目标机动加速度未知与目标状态观测受限等约束，这对编队跟踪控制技术带来了很大的挑战。. 本项目以多无人机协同侦查打击任务为背景，重点考虑多种常见约束条件下的编队跟踪控制问题。研究面向机动目标的时变编队策略，提出时变编队跟踪控制器构型，给出在未知目标机动加速度约束下实现编队跟踪的判据；研究通信与观测受限下的编队跟踪控制问题，提出自适应时变编队跟踪控制器构型，给出在多约束条件下实现编队跟踪的判据；基于自主研发的集群实验平台开展实物验证，通过多架小型无人机对上述编队跟踪控制算法进行验证与评估。

多无人机集群作战是现代战争中的重要形式。作为集群作战中的关键技术，编队跟踪有着广泛应用，如多无人机编队飞行、协同侦查、协同突防与集群打击等。本项目主要研究了多无人机编队跟踪控制理论与应用问题，提出了未知目标机动加速度下的自适应时变编队跟踪控制器构型，给出了目标机动约束下实现编队跟踪的判据；提出了切换拓扑约束下的自适应时变编队跟踪控制器构型，给出了切换拓扑约束下实现编队跟踪的理论条件；构造了观测受限下的分布式观测器构型，给出了观测受限下实现编队跟踪的充分条件；拓展研究了事件触发、通信延迟、传感器故障等典型约束下的协同编队问题，给出了多约束下实现协同编队的定理判据；基于自主研发的集群实验平台进行了应用验证，针对无人机特性，提出了双闭环编队控制架构，开展了多无人机集群仿真与集群实验，对相关编队跟踪控制算法进行了验证与评估，得到了一系列创新应用研究成果，推动了编队跟踪控制理论走向应用。在本项目资助下，共发表（含录用）25篇学术论文，其中SCI论文17篇，EI论文8篇，申请了专利4项，已授权3项。依托项目成果，项目负责人入选了中国科协青年人才托举工程。