车辆编队与群集运动控制研究

发布时间：2018-06-10 08:34

本文选题：车辆编队 + 领队跟随法　；参考：《长安大学》2014年硕士论文

【摘要】：随着社会的不断发展与经济的进步，城市化进程的迅速加快导致了城市人口以及机动车保有量的迅猛增加，随之造成的交通拥堵、能源消耗以及环境污染等问题日益的严峻。然而车辆编队控制问题是一个典型的以智能车路协调为研究对象的控制系统，在提高交通系统的智能性以及安全性上面都有着非常重要的意义，其研究更是日益受到国内外学者的广泛关注和高度重视。论文主要以近年来逐渐成熟的多机器人系统的协调编队控制与群集运动控制作为基础，在领队跟随方法的体系下深入研究了车辆编队与群集运动控制的问题，研究成果对于有效增加了道路的容量、简化了交通的复杂程度并减缓了交通的拥堵现象，具有重要的理论意义和应用前景。论文的主要研究工作和成果如下： 1、把车辆编队的控制问题转变为车辆与车辆之间的跟随问题，建立编队车辆的跟随领队者的运动模型，然后分别利用Lyapunov稳定性的分析方法和反馈线性化法设计了跟随车辆的速度控制器，并在Matlab\simulink仿真环境下对控制系统进行仿真验证。 2、针对传统控制方法中的不足，提出了基于反步法的车辆编队控制器的设计方法。该方法运用领队跟随法构造出虚拟车辆，，利用反步法和李亚普诺夫稳定性理论设计了跟随车辆的轨迹跟踪控制器，实现了车辆的编队控制。 3、对于群集运动中个体无法获得领队者信息的情形，运用虚拟群集中心估计的方法设计了以多智能体为基础的Leader-Follower分布式的群集运动控制算法，从而实现了多智能体系统的群集运动并用仿真验证了这个算法的正确性和有效性。
[Abstract]:With the continuous development of society and economic progress, the rapid acceleration of urbanization has led to a rapid increase in the number of urban population and motor vehicles, resulting in traffic congestion, energy consumption and environmental pollution. However, vehicle formation control is a typical control system with intelligent vehicle alignment as its research object. It is of great significance in improving the intelligence and safety of traffic system. Its research has been paid more and more attention by scholars both at home and abroad. On the basis of coordinated formation control and cluster motion control of multi-robot systems which have matured in recent years, this paper deeply studies the problem of vehicle formation and cluster motion control under the system of leader-following method. The research results have important theoretical significance and application prospect for effectively increasing the capacity of roads, simplifying the complexity of traffic and reducing traffic congestion. The main research work and achievements are as follows: 1. The control problem of vehicle formation is transformed into the following problem between vehicle and vehicle, and the motion model of the leader of formation vehicle is established. Then the following vehicle speed controller is designed by using the Lyapunov stability analysis method and the feedback linearization method, and the control system is simulated in Matlab\ simulink environment. 2. The design method of vehicle formation controller based on backstepping is presented. In this method, the virtual vehicle is constructed by using the lead follow method, and the trajectory tracking controller of the following vehicle is designed by using the backstepping method and Lyapunov stability theory. The formation control of vehicles is realized. 3. For the situation that the individual can not get the information of the leader in the cluster movement, a distributed motion control algorithm of Leader-Follower based on multi-agent is designed by using the method of virtual cluster center estimation. The cluster motion of multi-agent system is realized and the correctness and validity of the algorithm are verified by simulation.
【学位授予单位】：长安大学
【学位级别】：硕士
【学位授予年份】：2014
【分类号】：U495

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