无人机集群对地攻击时空协同控制策略  

Spatiotemporal coordinated air-to-ground attack strategy of an unmanned aerial vehicle swarm

作　　者：黄振[1] 尹航 童颖裔 张博洋 HUANG Zhen;YIN Hang;TONG Yingyi;ZHANG Boyang(Aeronautical Engineering College,Air Force Engineering University,Xi’an 710051,China;Beijing Blue Sky Science and Technology Innovation Research Center,Beijing 100080,China;Unit 95894 of Chinese People’s Liberation Army,Beijing 102200,China)

机构地区：[1]空军工程大学航空工程学院,西安710051 [2]北京蓝天科技创新研究中心,北京100080 [3]中国人民解放军95894部队,北京102200

出　　处：《工程科学学报》2024年第9期1565-1573,共9页Chinese Journal of Engineering

基　　金：国家自然科学基金青年资助项目(62101590)。

摘　　要：针对三维战场环境下无人机集群协同对地打击问题,提出了一种基于预设时间收敛的无人机集群时空协同控制方法.首先,对无人机集群对地攻击任务场景及其相关要素进行了分析,并建立了无人机集群、地面运动目标和攻击问题模型.在问题建模的基础上,考虑无人机集群的时空协同策略,设计三维空间无人机集群对地攻击的时空协同控制律.所提出的时空协同控制律能够控制无人机集群在指定的时间内到达期望的攻击位置,实现对地面运动目标的时空协同攻击.通过基于李雅普诺夫函数的理论分析,证明了所提出的控制律能够在预设时间条件下使攻击位置误差变量渐进稳定.仿真结果表明,在地面运动目标转弯运动的情况下,所提出的协同控制律能够实现无人机集群的时空协同,在指定的时间内完成对地面运动目标的多角度协同攻击.This paper proposes a spatiotemporal coordinated control method for unmanned aerial vehicle(UAV)swarms based on predefined time convergence in response to the coordinated ground attack problem of UAV swarms in a three-dimensional battlefield environment.First,we analyze the UAV swarm’s ground attack task scenario and its relevant elements and establish models for the UAV swarm,ground-moving targets,and attack problems.Building upon problem modeling,this paper considers the spatiotemporal coordinated strategy for a UAV swarm and designs a spatiotemporal coordinated control law for a three-dimensional spatial UAV swarm ground attack.The proposed spatiotemporal coordinated control law can guide the UAV swarm to reach the desired attack position within a specified time,achieving a spatiotemporal coordinated attack on ground-moving targets.A theoretical analysis based on the Lyapunov function demonstrates that the proposed control law can asymptotically stabilize the attack position error variable under a predefined time condition.Simulation results show that the proposed coordinated control law can achieve spatiotemporal coordination of the UAV swarm in a groundmoving target turning motion,enabling the completion of the multiangle coordinated attack on groundmoving targets within a specified time.Currently,research on the coordinated ground attack of UAV swarms mostly focuses on stationary targets,making it difficult to apply to coordinated attack tasks on moving targets.Although the coordinated tracking of moving targets by UAV swarms has been reported in the literature,spatiotemporal coordination among UAVs has not been considered.Therefore,this paper focuses on the spatiotemporal coordinated control strategy of UAV swarms,with a background of coordinated ground attacks by UAV swarms.First,this paper conducts a detailed analysis of the UAV swarm’s coordinated ground attack task in terms of time and multiple elements to establish a comprehensive task profile.Subsequently,by focusing on the core elements of coord

关 键 词：无人机集群 对地攻击 时空协同 地面运动目标 预设时间 

分 类 号：V279.3[航空宇航科学与技术—飞行器设计]