多机动目标无人机三维协同环绕制导律

doi:10.12305/j.issn.1001-506X.2026.07.25

摘要/Abstract

摘要：

针对有向通信拓扑下多架无人机协同环绕多机动目标的问题，提出一种三维分布式环绕制导策略。首先，通过建立俯仰和偏航通道强耦合的三维机动目标交战模型，有效抑制制导性能衰减，克服目标运动不确定性带来的挑战。其次，基于积分滑模控制理论和加权静态优化方法，设计一种基于成本函数的分布式协同环绕制导律，在保证系统状态渐近收敛的同时，实现了无人机加速度的最优分配。此外，运用李雅普诺夫稳定性理论对闭环系统的全局渐近稳定性进行了严格的理论证明。最后，数值仿真结果表明3架无人机在有向通信拓扑下均能实现对多机动目标的稳定协同环绕，验证了所提制导策略的有效性与优越性。

关键词: 环绕制导, 机动目标, 协同制导, 加权静态优化

Abstract:

In view of the problem of cooperatively encirclement of multiple maneuvering targets by multiple unmanned aerial vehicles （UAVs） under directed communication topologies, a three-dimensional distributed encirclement guidance strategy is proposed. Firstly, by constructing a strongly coupled three-dimensional maneuvering target engagement model incorporating pitch and yaw channels, the proposed method effectively mitigates the guidance performance degradation and addresses the challenges arising from uncertain target maneuvers. Secondly, based on integral sliding-mode control theory and a weighted static optimization method, a distributed cooperative encirclement guidance law driven by a cost function is designed, ensuring optimal allocation of UAV acceleration commands and asymptotic convergence of the system states. Furthermore, the global asymptotic stability of the closed-loop system is rigorously demonstrated through Lyapunov stability theory. Finally, numerical simulation results demonstrate that three UAVs can achieve stable cooperative encirclement of multiple maneuvering targets under a directed communication topology, thereby validate the effectiveness and superiority of the proposed guidance strategy.

Key words: encirclement guidance, maneuvering targets, cooperative guidance, weighted static optimization

中图分类号:

V 448.13

苏浩峻, 王利楠, 温广辉. 多机动目标无人机三维协同环绕制导律[J]. 系统工程与电子技术, 2026, 48(7): 2415-2423.

Haojun SU, Li’nan WANG, Guanghui WEN. Three-dimensional cooperative encirclement guidance law for UAVs against multiple maneuvering targets[J]. Systems Engineering and Electronics, 2026, 48(7): 2415-2423.

图/表 10

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符号	说明
${\bf{R}}$	实数集
${{\bf{R}}^n}$	n维向量空间
${{\bf{R}}^{m \times n}}$	m×n维矩阵空间
${{{ {\boldsymbol{A}}}}^{\text{T}}}$	矩阵${{\boldsymbol{A}}}$的转置
${\sigma _{{\text{max}}}}{{(}}{\boldsymbol{A}}{{)}}$	矩阵${{\boldsymbol{A}}}$的最大奇异值
$ {\text{diag(}}{a_{\text{1}}},{a_{\text{2}}}, \cdots ,{a_n}{\text{)}} $	由$ {a_{\text{1}}},{a_{\text{2}}}, \cdots ,{a_n} $组成的对角矩阵
$\lambda {{(}}{{\boldsymbol{A}}}{{)}}$	矩阵${{\boldsymbol{A}}}$的特征值
${{\boldsymbol{1}}_n}$	所有元素均为1的列向量
${{{{\boldsymbol{I}}}}_n}$	$ n $阶单位矩阵
$\left\| x \right\|$	实数$x$的绝对值
$\left\\| {{\boldsymbol{x}}} \right\\|$	向量${\boldsymbol{x}}$的二范数
${\left\\| {{\boldsymbol{x}}} \right\\|_\infty }$	向量${\boldsymbol{x}}$的无穷范数
$ {\text{sgn}}(x) $	实数$x$的符号函数
$ {\text{si}}{{\text{g}}^\beta }(x) $	$ {\left\| x \right\|^\beta }{\text{sgn}}(x)(\beta \gt 0) $

$无人机$	${r_i}{\text{(0)}}$/m	${q_{\theta i}}{\text{(0)}}$/(°)	${q_{\theta i}}{\text{(0)}}$/(°)	${\theta _{{\mathrm{P}}i}}{\text{(0)}}$/(°)	${\phi _{{\mathrm{P}}i}}{\text{(0)}}$/(°)
无人机1	10	36.43	−55.90	−55.98	−46.30
无人机2	45	6.43	55.90	−55.98	−46.30
无人机3	75	−26.43	−8.90	−55.98	−46.30

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