飞控与探测2026，Vol.9Issue(4)：51-61,11.DOI:10.20249/j.cnki.2096-5974.2026.04.004
面向水面目标搜索的无人机-无人艇集群编队控制方法
Research on UAV-USV Swarm Formation Control Method for Surface Target Search
摘要
Abstract
To address the limitation of the search range in surface target detection,this paper de-velops a cooperative formation control framework for UAVs and USVs.By leveraging the UAV's capability of wide-area perception from high altitude and the USV's fine operation near the water surface,a complementary collaboration is achieved,effectively expanding the search range.A uni-fied modeling framework for the UAV-USV heterogeneous system is established,and a virtual-target-based formation strategy is designed.Furthermore,an adaptive fixed-time control method is integrated to ensure efficient cooperation and stable formation among cross-domain platforms during task execution.The proposed controller fully accounts for system nonlinearities and uncer-tainties,guaranteeing convergence of tracking and velocity errors within a fixed time,thereby en-hancing system robustness and responsiveness.Simulation results validate the effectiveness of the proposed method,providing theoretical support and engineering reference for cooperative control of multi-agent heterogeneous systems.关键词
目标搜索/编队控制/水面无人艇/四旋翼无人机/固定时间控制Key words
target search/formation control/unmanned surface vehicle(USV)/quadrotor un-manned aerial vehicle(UAV)/fixed-time control分类
航空航天引用本文复制引用
赵恩娇,莫小艳,王洪志,夏树强..面向水面目标搜索的无人机-无人艇集群编队控制方法[J].飞控与探测,2026,9(4):51-61,11.基金项目
中国博士后科学基金(2021M690812) （2021M690812）
黑龙江省博士后科学基金 （）
