发表机构
University of North Dakota（北达科他大学）
机构由 AI 辅助整理，请以论文原文为准。AI 中文总结
本文提出一种嵌入式领航者蜂群过境控制方法，利用Chua振荡器生成混沌速率驱动参考进度，结合弹簧-阻尼编队控制，实现无地面站时的蜂群过境，并保证误差有界和到达时间界限。
AI 中文摘要
本文研究了当没有地面站飞行中流式传输参考时，平面蜂群沿固定路线的过境问题。一个嵌入式领航者存储部署点和目的地，在机载生成参考，并使用Chua振荡器的饱和坐标驱动其进度速率；饱和使速率保持在规定的正区间内，这给出了参考到达时间的显式界限。该领航者将这一标量速率广播给其他领航者；每个领航者将其作为速度前馈添加，并通过位置误差上的单钉扎共识保持其位置，而跟随者仅通过弹簧-阻尼网络使用相对位置和速度反馈。对于固定图且理想信息交换下的运动学领航者和双积分器跟随者，领航者误差指数衰减，跟随者误差有界，并且只要最终编队严格适合目的地区域，整个蜂群最终保持在目的地区域内。十次包含30个智能体的仿真将混沌速率与恒定速率进行了比较。参考到达满足解析界限，且混沌速率在所有三个测试时间范围内提高了恒定速度预测器的误差，代价是更大的但有界的跟随者误差。分析未涉及内部链路故障或模型感知观测器。
英文摘要
This paper treats planar swarm transit along a fixed route when no ground station streams the reference in flight. One embedded leader stores the deployment point and the destination, generates the reference onboard, and drives its progress rate with a saturated coordinate of a Chua oscillator; the saturation keeps the rate inside a prescribed positive band, which gives explicit bounds on the reference arrival time. This leader broadcasts the one scalar rate to the other leaders; every leader adds it as a velocity feedforward and holds its station by single-pinned consensus on position error, while followers use only relative position and velocity feedback through a spring-damper network. For kinematic leaders and double-integrator followers on fixed graphs with ideal information exchange, the leader errors decay exponentially, the follower errors are bounded, and the whole swarm eventually stays inside the destination area whenever the final formation fits strictly inside it. Ten simulations with 30 agents compare the chaotic rate with a constant rate. The reference arrivals satisfy the analytical bounds, and the chaotic rate raises the error of a constant-velocity predictor at all three tested horizons, at the cost of a larger but bounded follower error. The analysis does not address internal link failures or model-aware observers.
