本文围绕无人机/无人船异构系统的编队跟踪控制问题展开研究。首先，构建以无人机为领航者、无人船集群为跟随者的异构编队系统，并基于一致性理论设计适用于该系统的编队跟踪控制协议。其次，针对固定通信拓扑，推导系统实现编队跟踪的充分条件。理论分析表明，当控制矩阵与控制参数满足特定约束时，系统能够精确跟踪预设编队队形。在此基础上，进一步推广至通信拓扑切换的情形，获得了系统在拓扑切换条件下实现有界收敛的判据。最后，通过数值仿真与外场试验验证了所提控制方法的有效性与可行性。
This paper investigates the formation tracking control problem of a heterogeneous unmanned aerial vehicle (UAV) and unmanned surface vehicle (USV) system. A formation system is constructed with the UAV acting as the leader and a group of USVs as followers. A formation tracking control protocol is developed for the USV group based on consensus theory. Under fixed communication topology, sufficient conditions are derived to ensure accurate formation tracking. Theoretical analysis demonstrates that the system can precisely track a predefined formation pattern when the control matrix and parameters satisfy certain constraints. Furthermore, the fixed topology case is extended to scenarios involving switching topologies, and convergence criteria under such conditions are established. The effectiveness and feasibility of the proposed control strategy are validated through numerical simulations and field experiments.
2026,48(5): 133-138 收稿日期：2025-7-2
DOI：10.3404/j.issn.1672-7649.2026.05.021
分类号：U664.82；TP242
基金项目：自然资源部南海遥感测绘协同应用技术创新中心开放基金（RSSMCA-2024-B016）
作者简介：张元盛(1993-),男,硕士,工程师,研究方向为海洋无人系统开发
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