【摘要】 针对多无人机系统对多静态目标的环航控制问题，提出了一种基于方位测量的目标定位和环航控制算法，以确保系统能在固定时间内实现对目标的定位和环航包围。首先，为领航者无人机设计了基于方位测量的目标定位算法以计算目标位置，并为跟随者无人机设计了状态观测器以估计目标中心和领航者位置。然后，对多无人机系统设计了分布式环航控制算法，使多无人机系统实现对多目标物的均匀分布环航。最后，数值仿真实验验证了本文控制算法的有效性。更多还原

【Abstract】 For circumnavigation control of a multi-UAV system with multiple static targets was proposed bearing measurement based target localization and circumnavigation control algorithms to ensure that the multi-UAV system can realize the target localization and circumnavigation in fixed time. First, A bearing measurement based fixed-time target localization algorithm was designed for the leader-UAV to compute the position of each target,and a fixed-time observer was proposed for each follower-UAV to estimate the targets’ center and the position of the leader-UAV. Then, a distributed fixed-time circumnavigation control algorithm was designed for the multi-UAV system to ensure the system realize a uniformly distributed circumnavigation of the multiple targets. Finally, numerical simulation experiment verifies the effectiveness of the proposed circumnavigation control algorithm.更多还原