自动化学报2026，Vol.52Issue(2)：240-253,14.DOI:10.16383/j.aas.c250423
智能网联无人系统云控制平台的关键理论与技术
Key Theories and Technologies of Cloud Control Platform for Intelligent Connected Unmanned Systems
摘要
Abstract
To address the cross-domain collaborative challenges of unmanned systems in smart cities,which arise from inconsistent communication architectures,inefficient task scheduling,and the inability of digital twin technolo-gies to support real time global decision making,this paper integrates cloud control system theory with digital twin technologies.Based on a cloud-network-edge-terminal collaborative cloud control architecture,we establish a cloud control platform for intelligent connected unmanned systems together with its key theoretical and technical frame-work.This framework encompasses key theories,such as comprehensive modeling of cloud control systems,model and data-driven joint control,and cross-domain collaborative cloud control for multi-motion bodies.In addition,several key technologies are studied,including a digital twin system,a containerized cloud workflow scheduling sys-tem,a dynamic cloud control system,and a remote driving system.A heterogeneous unmanned system composed of unmanned aerial vehicles,unmanned vehicles,unmanned surface vehicles,and robots is deployed in a campus scen-ario to form aerial-based,ground-based,and sea(water)-based dynamic clouds and to achieve cross-domain collab-oration.The results verify the feasibility and effectiveness of the proposed theoretical framework and provide theor-etical foundations and technical pathway for future smart city development and cross-domain unmanned system col-laborative applications.关键词
智能网联无人系统/云控制系统/数字孪生/云网边端协同架构/智慧城市Key words
intelligent connected unmanned systems/cloud control systems/digital twin/cloud-network-edge-ter-minal collaborative architecture/smart city引用本文复制引用
夏元清,刘丹阳,杨洪玖,于东东,高润泽..智能网联无人系统云控制平台的关键理论与技术[J].自动化学报,2026,52(2):240-253,14.基金项目
国家自然科学基金(U25A20460,62373269),北京市自然科学基金−海淀原始创新联合基金(L252035)资助Supported by National Natural Science Foundation of China(U25A20460,62373269)and Beijing Natural Science Foundation-Haidian Original Innovation Joint Fund(L252035) （U25A20460,62373269）
