High-Speed and Maneuverable Target Cooperative Encirclement Strategy Based on Apollonius Ellipsoids

The high-speed and highly maneuverable aircraft pose one of the most significant threats as offensive weapons. To address the challenges they present, this paper proposes a cooperative encirclement strategy based on Apollonius ellipsoids. Initially considering the maneuver characteristics of both the aircraft and the target, the traditional Apollonius spheres are improved to Apollonius ellipsoids, enabling a more accurate modeling of the encirclement space. Subsequently, based on the target’s escape area, the optimal number of initial aircraft and their spatial distribution are determined. A specialized encirclement formation is designed based on redundant coverage, and a cooperative control law is developed to achieve the encirclement formation. This ensures that the defensive aircraft cluster can adaptively adjust the encirclement space and effectively cover the target’s escape area, rendering the target unable to escape once encircled by the aircraft.