通信受限环境下无人机集群虚实融合轨迹跟踪控制

doi:10.12305/j.issn.1001-506X.2026.11.27

系统工程与电子技术 ›› 2026, Vol. 48 ›› Issue (11): 3982-3988.doi: 10.12305/j.issn.1001-506X.2026.11.27

通信受限环境下无人机集群虚实融合轨迹跟踪控制

霍梦真(), 段海滨

北京航空航天大学自动化科学与电气工程学院飞行器一体化控制全国重点实验室，北京 100083

收稿日期:2025-11-24 修回日期:2026-02-09 出版日期:2026-10-25 发布日期:2026-07-06
通讯作者: 段海滨 E-mail:mzhuo@buaa.edu.cn
作者简介:霍梦真（1996—），女，副教授，博士，主要研究方向为仿生无人集群自主控制
基金资助:
国家自然科学基金（U2541218, 62533006）；北京市自然科学基金（L252094）；自主智能无人系统全国重点实验室开放课题（2024-SRIAS-KF-002）；工业控制技术全国重点实验室开放课题（ICT2025B01）资助课题

Virtual-real integration trajectory tracking control of unmanned aerial vehicle swarm in communication-constrained environment

Mengzhen Huo(), Haibin Duan

National Key Laboratory of Aircraft Integrated Flight Control，School of Automation Science and Electrical Engineering，Beihang University，Beijing 100083，China

Received:2025-11-24 Revised:2026-02-09 Online:2026-10-25 Published:2026-07-06
Contact: Haibin Duan E-mail:mzhuo@buaa.edu.cn

摘要/Abstract

摘要：

针对通信受限环境下无人机集群轨迹跟踪控制问题，提出一种虚实融合的集群分布式编队控制方法。首先，针对通信受限场景下部分目标信息未知等问题，设计了一种分布式观测器，使得集群中每架无人机能够获得期望位置、速度和加速度的精确估计值。构造李雅普诺夫函数分析观测器的收敛性；其次，将无人机集群编队轨迹跟踪控制问题转化为动力学和姿态误差动力学稳定控制问题，设计了无人机集群分布式编队控制器，将控制指令转换为指令控制力和控制力矩作用于无人机，以实现在有向生成树条件下的集群编队轨迹跟踪渐进收敛。最后，仿真实验进一步验证了所提方法的有效性与理论分析的一致性。

关键词: 无人机集群, 轨迹跟踪, 虚实融合控制, 通信受限环境

Abstract:

To address the trajectory tracking control problem for unmanned aerial vehicle swarm in communication-constrained environments, a virtual-real integration cluster distributed formation control method is proposed. Firstly, to overcome the challenges such as unknown target information in communication-constrained scenarios, a distributed observer is designed to allow each unmanned aerial vehicle in the swarm obtaining precise estimation of the desired position, velocity, and acceleration. The convergence of the observer is analyzed by constructing the Lyapunov function. Secondly, the formation trajectory tracking control problem of unmanned aerial vehicle swarm is transformed into stabilization control problems for both dynamics and attitude error dynamics. A distributed formation controller is developed to convert control commands into control forces and control torques applied to the unmanned aerial vehicles, achieving asymptotic convergence of swarm formation trajectory tracking under the condition of directed spanning trees. Lastly, simulation results further validate the effectiveness of the proposed method and its consistency with theoretical analysis.

Key words: unmanned aerial vehicle swarm, trajectory tracking, virtual-real control, communication-constrained environment

中图分类号:

TP 273

霍梦真, 段海滨. 通信受限环境下无人机集群虚实融合轨迹跟踪控制[J]. 系统工程与电子技术, 2026, 48(11): 3982-3988.

Mengzhen Huo, Haibin Duan. Virtual-real integration trajectory tracking control of unmanned aerial vehicle swarm in communication-constrained environment[J]. Systems Engineering and Electronics, 2026, 48(11): 3982-3988.

图/表 6

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通信受限环境下无人机集群虚实融合轨迹跟踪控制

Virtual-real integration trajectory tracking control of unmanned aerial vehicle swarm in communication-constrained environment

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