具有量化反馈的顾前顾后型车辆跟随控制

发布时间：2018-09-11 16:19

【摘要】：针对一类考虑前后相邻车辆信息的顾前顾后型车辆跟随系统,研究量化反馈下的自动纵向跟随控制问题。假定每个跟随车辆通过无线网络获得前后相邻车辆及领头车辆的状态信息,并且信息在对数量化器传输下存在量化误差。基于车辆非线性纵向动力学耦合模型,采用固定距离跟随策略,应用向量Lyapunov函数方法得出的非线性关联大系统群指数稳定性判据,将量化误差处理为不确定系统状态,给出量化反馈信号影响下的滑模控制律,并设计满足车队群稳定性的控制器参数。仿真结果表明:设计的车辆纵向跟随控制器对量化误差产生的影响进行了有效补偿,与不考虑量化误差干扰设计的控制器相比,本控制器能够显著提高车辆跟随误差的收敛速度。
[Abstract]:In this paper, the automatic longitudinal following control problem with quantization feedback is studied for a class of vehicle following systems with front and rear vehicles considering the information of front and rear vehicles. It is assumed that each follower obtains the state information of adjacent vehicles and leading vehicles via wireless network and that the information has quantization errors under the transmission of the logarithmic quantizer. Based on the vehicle nonlinear longitudinal dynamics coupling model, the fixed distance following strategy is adopted, and the exponential stability criterion of nonlinear interconnected large scale system is obtained by using vector Lyapunov function method. The quantization error is treated as the uncertain system state. The sliding mode control law under the influence of quantization feedback signal is given, and the controller parameters satisfying the stability of the fleet group are designed. The simulation results show that the designed longitudinal follower compensates the effect of quantization error effectively, compared with the controller which does not take quantization error interference into account. This controller can significantly improve the convergence rate of vehicle following error.
【作者单位】：西南交通大学牵引动力国家重点实验室;
【基金】：国家自然科学基金资助项目(11172247,60974132) 西南交通大学博士研究生创新基金资助项目(2013) 中央高校基本科研业务费专项资金资助(2013)~~
【分类号】：U495;TP273

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