中文摘要：

针对无人机编队飞行的实际背景和限制条件，提出了一种基于多智能体系统（MAS）技术的编队飞行的智能优化控制策略和实现算法。利用多Agent之间的交互作用，以灵活便捷的方式进行各单机之间的协同优化，从而可实现多架无人机的自主编队飞行。考虑到leader—follower原理的支配机制，对面向编队飞行的僚机控制律与实现算法进行了重点研究，设计了僚机编队控制器，通过仿真实验验证了其鲁棒性和稳定性。最后针对编队队形的变换与躲避威胁等特殊情况对无人机编队单元之间的协调优化进行了仿真验证和分析。

英文摘要：

The multi-agent system（MAS） based strategy and corresponding implementing algorithms for UAVs formation flight are proposed according to aviation characteristics and practical constraints of UAVs. The coordinative optimizations among every individual UAV arc carried out with flexible and smart ways by interactive communications and information feedback in MAS so as to implement the autonomous formation flight of UAVs. Furthermore the control law and corresponding algorithms of the wingman controller in the formation process are studied in depth based on the principle of leader-follower, and simulation results verify the robustness and stability of the formation controllers. Finally, the formation alternation and threatening obstacle avoidance of UAVs are taken into account within the coordinative optimization procedure by simulated verification and comparative analysis.