Considering the problems of poor real-time property or optimization for the existing methods, a closed-loop optimal control method for cooperative target tracking based on the optimal condition was proposed for the control of approaching and loitering stages. The adaptive azimuth control of UAVs was implemented according to the relative distance and angle between the UAV and target in order to gain the optimal observing geometry as quickly as possible. The simulation results demonstrated that the optimal observing geometry during approaching and loitering stages was achieved with high real-time and optimization.%针对目前多机协同目标跟踪方法缺乏实时性和最优性等问题.提出了一种由趋近和盘旋两阶段组成的多无人机协同目标跟踪闭环最优控制方法.当距离目标远时自适应调节无人机方位角优先且尽快趋近目标；而当距离近时则自适应调节无人机方位角优先且尽快实现最优观测视线夹角.仿真结果证明了:在靠近和盘旋阶段均确保了最优性观测条件,且具有较好的实时性和最优性.
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