中文摘要：

针对多无人航空器协同控制难题,聚焦无人航空器集群（unmanned aircraft vehicles swarm,UAVS）自组织飞行建模与控制展开研究。基于集群智能理论建立了UAVS系统概念模型,在考虑个体排斥作用、一致作用、吸引作用和个体行动意愿作用4种因素的情况下建立了集群运动的变系数（repulsion-matching-attracting-desire,RMAD）控制器模型,以此为基础,研究了所有个体掌握航迹信息和部分个体掌握航迹信息两种情况下UAVS自组织飞行控制问题,提出UAVS自组织飞行控制策略,实现了UAVS可控性自组织飞行。仿真实验结果表明构造的UAVS运动的RMAD模型及控制方法是可行的,为UAVS的工程应用奠定理论和实验基础。

英文摘要：

Aiming at the conundrum of multi-unmanned aircraft vehicle （UAV） cooperative control, the key problems of UAV swarm（UAVS）self-organized flight modeling and control are focused to study. Firstly, based on the swarm intelligence theory, the UAVS system concept model is louilt, in the condition of consider- ing four factors of repulsion, matching, attracting and agent＇s desire action, the swarm control＇ s alterable co- efficient repulsion-matching-attracting-desire （RMAD） model is presented. Based on these models, the UAVS self-organized flight control problems are studied on the following two conditions. One is all of the agents in swarm learned the information of the flight path and the other one is that part agents learned the information. The UAVS self-organized flight control strategy is presented which achieves UAVS＇ s controllable self-organized flight. Simulation results show that the RMAD model and the proposed methods are feasible, which lay an academic and experimental foundation for UAVS＇s engineering application.