基于固定时间分布式优化的无人机协同围捕策略  

Fixed-time Distributed Optimization based Coordinated Tactical Encirclement Strategy of Unmanned Aerial Vehicles

作　　者：张博洋[1] 尹航 童颖裔 罗汉 ZHANG Boyang;YIN Hang;TONG Yingyi;LUO Han(People’s Liberation Army of China,Unit 93236,Beijing 100080,China;People’s Liberation Army of China,Unit 95894,Beijing 102200,China)

机构地区：[1]中国人民解放军93236部队,北京100080 [2]中国人民解放军95894部队,北京102200

出　　处：《无人系统技术》2025年第2期71-79,共9页Unmanned Systems Technology

基　　金：国家自然科学基金青年基金(62403488)。

摘　　要：针对三维战场环境下无人机协同围捕问题,提出了一种基于固定时间分布式优化方法的无人机协同控制策略。首先分析无人机协同战术围捕场景及相关要素,建立无人机、运动目标和协同围捕问题模型。其次在问题建模的基础上,考虑固定时间条件下的协同控制收敛,设计分布式围捕优化算法。所提分布式优化方法可有效实现无人机编队在固定时间内形成期望位置构型,并完成对地面运动目标的协同围捕。最后通过一致性和最优性分析,证明所提出固定时间分布式优化方法的一致性收敛和最优性收敛。仿真结果表明,所提方法能够在固定时间内实现无人机编队协同战术围捕,5架无人机可在1 s内快速形成编队构型,编队误差收敛至1 m以内,并在6 s后完成对地面运动目标的精确围捕跟踪,跟踪误差收敛至0.5 m内。This paper proposes a distributed optimization-based coordinated control method for unmanned aerial vehicles(UAVs)in response to the coordinated tactical encirclement problem of UAV formation in a three-dimensional battlefield environment.Firstly,we analyze the coordinated tactical encirclement scenario of UAVs and its relevant elements and establish models for the UAVs,ground-moving targets,and coordinated encirclement problem.Then,based on the problem modeling,this paper considers the fixed-time control convergence condition and designs a distributed optimization algorithm.The proposed distributed optimization algorithm can guide the UAV formation to reach the desired position configuration within a fixed time,while achieving the spatiotemporal coordinated encirclement of moving target.At last,through the consistency and optimality analysis,the consistency convergence and optimal convergence of proposed distributed optimization method are proved.Simulation results show that the proposed method can realize the coordinated tactical encirclement of UAV formation within a fixed time.Five UAVs can quickly form a formation configuration within 1s,and the formation error converges to less than 1 m.After 6 s,the accurate encirclement and tracking of ground moving targets are completed,and the tracking error converges to less than 0.5 m.

关 键 词：无人机编队 协同围捕 分布式优化 固定时间 战术协同 编队一致性 

分 类 号：V279.3[航空宇航科学与技术—飞行器设计]