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

Abstract

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

CLC Number:

V 448.13

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.

Figures/Tables 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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Three-dimensional cooperative encirclement guidance law for UAVs against multiple maneuvering targets

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