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| 具有输入与观测时滞的无人机集群延 迟补偿边界控制 |
| Output Feedback Control of UAV Swarm Encirclement Boundaries Under Input and Observation Delays |
| 投稿时间：2026-07-20 修订日期：2026-08-24 |
| DOI： |
| 中文关键词: 无人机集群 合围控制 反应－扩散系统 输入时滞 观测时滞 |
| English Keywords:UAV swarm encirclement control reaction-diffusion system input delay observation delay |
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| 中文摘要: |
| 针对无人机集群合围过程中控制指令传输滞后与局部邻接状态信息获取延迟并存的问题，研究基于边界连续体模型的时延补偿输出反馈控制方法。首先，将无人机集群合围边界描述为反应-对流-扩散型分布参数系统，并引入输入时滞通道和边界局部延迟观测输出；其次，基于 Backstepping 方法构造输入时滞补偿控制律，并将观测时滞等价提升为传输型子系统，设计基于局部延迟输出信息的状态观测器；进一步，利用 Volterra 型变换、模态算子重整和 Lyapunov 泛函方法证明观测误差系统指数收敛，并证明基于估计状态的闭环系统指数稳定。数值仿真结果表明，所提方法能够在双时滞条件下实现边界状态重构和合围构型稳定控制，并可支撑由协同搜索、目标发现到压缩围堵的动态任务执行。 |
| English Summary: |
| To address the concurrent transmission delay of control commands and acquisition delay of local neighboring-state information in UAV swarm encirclement, a delay-compensated output-feedback control method based on a boundary continuum model is investigated. First, the encirclement boundary is described as a reaction-advection-diffusion distributed parameter system, incorporating an input-delay channel and a local boundary output subject to observation delay. Second, a backstepping-based input-delay compensation law is constructed, and the observation delay is equivalently represented as a transport subsystem to design a state observer driven by local delayed-output information. Furthermore, Volterra-type transformations, modal-operator rearrangement, and Lyapunov functionals are employed to establish exponential convergence of the observer-error system and exponential stability of the estimated-state-based closed-loop system. Simulation and comparison results demonstrate that the proposed method reconstructs the boundary state and stabilizes the encirclement configuration under concurrent input and observation delays, while balancing convergence speed and control effort. |
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