Target Enclosing Control of Unmanned Aerial Vehicle Swarm Based on Socialized Collaboration

A socialized collaboration-based control strategy is proposed for mobile-target enclosing under perception and communication constraints in the presence of environmental obstacles. First, inspired by socialized behaviors in biological swarms, a cooperative response model and a hierarchical interaction mechanism are established; under topology switching and packet-loss conditions, the constrained information flow is explicitly modeled to drive the swarm to achieve target enclosing. Second, a strongly guided task——Collision-avoidance parallel cooperative control scheme is proposed to realize robust enclosing control while prioritizing flight safety. Third, a consensus-based target-state observer is designed to robustly estimate the target position and velocity. Finally, simulation results demonstrate that the proposed method can achieve stable encirclement in obstacle-laden environments under perception and communication constraints, exhibiting favorable robustness.