（College of Command and Control Engineering，Army Engineering University of PLA，Nanjing Jiangsu 210000，China）

Abstract:Unmanned Aerial Vehicle（UAV）cooperative control means that a group of UAVs based on inter-aircraft communication complete a common mission with rational division of labor and cooperation by using swarm intelligence as the core.UAV swarm is a multi-agent system in which many UAVs with certain independence ability carry out various tasks based on local rules.Compared with a single UAV，UAV swarm has great advantages such as high efficiency，high flexibility and high reliability.In view of the latest developments of UAV cooperative control technology in recent years，firstly，the application prospect of multi-UAV technology was illustrated by giving examples from the perspectives of civil use and military use.Then，the differences and development statuses of the three mainstream cooperative control methods：consensus control，flocking control and formation control were compared and analyzed.Finally，some suggestions on delay，obstacle avoidance and endurance of cooperative control were given to provide some help for the research and development of UAV collaborative control in the future.

Key words:Unmanned Aerial Vehicle(UAV);cooperative control;flocking control;consensus;formation control

中图分类号：TP273

文献标志码：A

文章编号：1001-9081（2021）05-1477-07

DOI：10.11772/j.issn.1001-9081.2020081314

收稿日期：2020-08-13；

修回日期：2020-11-19；录用日期：2020-12-04。

基金项目：国家重点研发计划项目（2018YFC0806900）；中国博士后科学基金资助项目（2018M633757）；江苏省重点研发计划项目（BE2017616，BE2018754，BE2019762）；江苏省博士后科学基金资助项目（2019K185）。

作者简介：马子玉（1996—），男，江苏宿迁人，硕士，主要研究方向：无人机集群协同控制；何明（1978—），男，新疆石河子人，教授，博士生导师，博士，主要研究方向：大数据、无人机集群协同控制；刘祖均（1996—），男，安徽宿州人，硕士，主要研究方向：无人机集群协同控制；顾凌枫（1991—），男，江苏靖江人，硕士，主要研究方向：无人机集群协同控制；刘锦涛（1981—），男，山东烟台人，博士，主要研究方向：多智能体系统协同控制。

This work Is partially supported by the National Key Research and Development Program of China（2018YFC0806900），the China Postdoctoral Science Foundation（2018M633757），the Key Research and Development Program of Jiangsu Province（BE2017616，BE2018754，BE2019762），the Jiangsu Provincial Postdoctoral Science Foundation（2019K185）.

MA Ziyu，born in 1996，M.S.His research interests include multi-UAV swarm cooperative control.

HE Ming，born in 1987，Ph.D.，professor.His research interests include big data，multi-UAV swarm cooperative control.

LIU Zujun，born in 1996，M.S.His research interests include multi-UAVs swarm cooperative control.

GU Lingfeng，born in 1991，M.S.His research interests include multi-UAV swarm cooperative control.

LIU Jintao，born in 1981，Ph.D.His research interests include multi-agent system cooperative control.