无人机结合无线能量传输的技术可为物联网终端设备提供能量供应。为了解决充电用户与无人机之间自 由公平的能量交易问题，提出一种基于 Stackelberg 博弈的能量交易方案，赋予用户主方角色，由其决策服务奖励， 各无人机作为从方通过能量供应来竞争获取奖励，参考无线能量传输过程中的平均信道增益决策服务用户的充电 时长。运用逆向归纳法分析并求解 Stackelberg 均衡解。实验仿真表明，所提方案可有效减少用户在能量交易中的 经济开销，提高用户满意度，实现用户侧能量优化。

The technology integrating unmanned aerial vehicles (UAV) with wireless power transfer is applied to provide energy supply for Internet of things devices. A Stackelberg game scheme was further proposed to tackle the problem on free and fair energy trading between a charging user and multiple UAV. The user played as a game leader and determined the rewards while each UAV played as a game follower, which competed for the rewards through the energy supply, and refered to the average channel gain during the wireless power transfer to determine the charging time for the user. The Stackelberg equilibrium solution was analyzed and derived by the backward induction method. Simulation results show that the proposed scheme can effectively reduce the economic cost for the user in the energy trading, thereby improving user satisfaction and achieving the user-side energy optimization.