中文摘要：

针对复杂网络条件下多UAV系统任务区集结问题,提出了多机非合作求解方法.首先,基于协调变量和协调函数,建立多UAV集结问题的分布式求解框架.从任务特征出发,改进多智能体时延相关平均一致性算法,提出非合作优化一致性策略.该方法更强调平台的轨迹控制,弱化UAV对路径规划算法的要求,不仅能够降低集结问题的求解难度,而且使多UAV系统具有较强的动态响应能力.仿真实验验证了非合作优化一致性策略的正确性,多UAV能够在复杂网络条件下实现任务集结.

英文摘要：

To solve the rendezvous problem in mission area for multiple unmanned aerial vehicles（UAVs） system in complex network,a non-cooperative method is proposed.Firstly,the distributed solving framew ork is provided based on coordination variables and coordination function.Considering the characteristics of the task,delay-dependent average consensus algorithm of multi-agent system is improved,and the non-cooperative optimal consensus strategy is presented.The proposed method emphasizes on the trajectory control of the platform,and thus w eakens the requirements of the UAVs for the path planning algorithm.It can not only reduce the difficulty of solving rendezvous problem,but also strengthen the dynamic response capabilities of the multi-UAV system.The simulation results show the effectiveness of the proposed method,and it is valid for solving the rendezvous problem of multi-UAV system in complex netw ork.