多型通信拓扑下车辆队列分布式控制中的稳定性问题
发布时间：2018-12-12 12:24
【摘要】：车辆队列通过引入无线通信扩展了成员车的环境感知能力,在保证安全性的基础上采用几何构型更为紧凑的跟驰策略,从而可以提高交通效率,减少能源消耗,是智能交通的重要发展方向。现有研究所涉及的通信拓扑结构单一,未考虑建模不确定性和通信扰动的影响,难适用于复杂多变的交通环境。针对这些问题,本文基于四元素构架车辆队列模型,研究了多型通信拓扑结构下车辆队列的内稳定性和鲁棒性,提出了计算量独立于队列规模的控制器设计方法,为多型通信拓扑结构下车辆队列的分布式控制系统设计和稳定性分析奠定了基础。首先对具有非线性节点动力学的车辆队列进行动力学建模。将车辆控制系统分为上、下两层,下层系统通过反馈线性化技术以获得带惯性延迟的线性车辆模型,上层系统采用分布式控制律以保持期望的队列几何构型。将通信拓扑建模为有向图,以拉普拉斯阵描述队列成员车之间的信息交互关系,从而建立起包含节点动力学、队列几何拓扑、通信拓扑和分布式控制律的四元素高维车辆队列模型。然后对多型通信拓扑动力学耦合下的四元素高维车辆队列模型进行闭环内稳定性分析。将高维度车辆队列的稳定性问题转化为低维度子模态的稳定性问题,在实数域中给出了一般通信拓扑下车辆队列系统的低维度稳定性充分必要条件。通过里卡蒂(Riccati)不等式将通信拓扑具体结构与控制器的设计解耦,以通信拓扑阵特征值对线性矩阵不等式可行域的影响表征通信拓扑结构对车辆队列内稳定性的影响,使得控制器求解计算量独立于队列规模。其次分析了匀质/异质参数摄动下车辆队列的内稳定性条件。基于所提出的控制器设计方法,证明了时变匀质参数摄动下车辆队列的稳定性取决于时间常数取摄动上界时队列系统的稳定性。通过将异质参数摄动表达为范数有界形式,结合车辆模型的结构特点,给出了控制器所能镇定的异质参数摄动区间。为适应复杂的交通环境,进一步讨论了异质通信时延和随机通信拓扑切换对车辆队列内稳定性的影响。给出了异质通信时延上界,所设计控制器能够保证不大于该上界的异质通信时延下车辆队列系统的内稳定性。一般通信拓扑切换条件下,若子通信拓扑均具有有向生成树,且平均驻留时间不小于本文所提出的下界,则队列系统内稳定性得到保证。而对称通信拓扑切换条件下,车辆队列系统的内稳定性需要通信拓扑在有限时间内具有联合生成树。最后,开展了基于动态模拟试验台的车辆队列试验研究。试验结果表明,所设计的控制器在匀质/异质参数摄动下、异质时延下以及通信拓扑切换情况下均能保证车辆队列系统的鲁棒性。
[Abstract]:By introducing wireless communication, the vehicle queue expands the environmental awareness of the member vehicle, and adopts a more compact geometry car-following strategy on the basis of security, which can improve the traffic efficiency and reduce the energy consumption. It is the important development direction of intelligent transportation. The existing research involves a single communication topology without considering the influence of modeling uncertainty and communication disturbance, so it is difficult to adapt to the complex and changeable traffic environment. Aiming at these problems, based on the four-element vehicle queue model, this paper studies the internal stability and robustness of vehicle queue under multi-type communication topology, and proposes a controller design method independent of queue size. It lays a foundation for the design and stability analysis of the distributed control system of vehicle queue under multi-type communication topology. Firstly, the vehicle queue with nonlinear node dynamics is modeled. The vehicle control system is divided into upper and lower layers, and the lower system adopts feedback linearization technique to obtain the linear vehicle model with inertial delay, and the upper system adopts distributed control law to maintain the desired queue geometry. The communication topology is modeled as a directed graph, and the information interaction between queue members is described by Laplace matrix, and then the dynamics of nodes and the geometry topology of queue are established. A four-element high-dimensional vehicle queue model for communication topology and distributed control law. Then the four-element high-dimensional vehicle queue model with multi-type communication topology dynamics coupling is analyzed. The stability problem of high-dimensional vehicle queue is transformed into the stability problem of low-dimensional submodal. The sufficient and necessary conditions for the low-dimensional stability of vehicle queue system under general communication topology are given in the real number domain. The specific structure of communication topology and the design of controller are decoupled by Riccati (Riccati) inequality, and the influence of eigenvalue of communication topology matrix on the feasible region of linear matrix inequality (LMI) is used to characterize the influence of communication topology structure on the stability of vehicle queue. The computation of the controller is independent of the queue size. Secondly, the internal stability conditions of vehicle queue with homogeneous / heterogeneous parameter perturbation are analyzed. Based on the proposed controller design method, it is proved that the stability of vehicle queue under time-varying homogeneous parameter perturbation depends on the stability of queue system when the time constant perturbs the upper bound. By expressing the perturbation of heterogeneous parameters as a norm bounded form and combining the structural characteristics of the vehicle model, the perturbation interval of the heterogeneous parameters can be stabilized by the controller is given. In order to adapt to the complex traffic environment, the effects of heterogeneous communication delay and random communication topology switching on the stability of vehicle queue are further discussed. The upper bound of heterogeneous communication delay is given, and the controller designed can guarantee the internal stability of vehicle queue system with heterogeneous communication delay not greater than the upper bound. If the subcommunication topology has a directed spanning tree and the average resident time is not less than the lower bound proposed in this paper, the stability of the queue system can be guaranteed under the general communication topology switching condition. Under the condition of symmetric communication topology switching, the internal stability of the vehicle queue system requires that the communication topology has a joint spanning tree in a finite time. Finally, the vehicle queue test research based on dynamic simulation test bench is carried out. The experimental results show that the proposed controller can ensure the robustness of the vehicle queue system under homogeneous / heterogeneous parameter perturbation, heterogeneous delay and communication topology switching.
【学位授予单位】：清华大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：U495
，
本文编号：2374546
[Abstract]:By introducing wireless communication, the vehicle queue expands the environmental awareness of the member vehicle, and adopts a more compact geometry car-following strategy on the basis of security, which can improve the traffic efficiency and reduce the energy consumption. It is the important development direction of intelligent transportation. The existing research involves a single communication topology without considering the influence of modeling uncertainty and communication disturbance, so it is difficult to adapt to the complex and changeable traffic environment. Aiming at these problems, based on the four-element vehicle queue model, this paper studies the internal stability and robustness of vehicle queue under multi-type communication topology, and proposes a controller design method independent of queue size. It lays a foundation for the design and stability analysis of the distributed control system of vehicle queue under multi-type communication topology. Firstly, the vehicle queue with nonlinear node dynamics is modeled. The vehicle control system is divided into upper and lower layers, and the lower system adopts feedback linearization technique to obtain the linear vehicle model with inertial delay, and the upper system adopts distributed control law to maintain the desired queue geometry. The communication topology is modeled as a directed graph, and the information interaction between queue members is described by Laplace matrix, and then the dynamics of nodes and the geometry topology of queue are established. A four-element high-dimensional vehicle queue model for communication topology and distributed control law. Then the four-element high-dimensional vehicle queue model with multi-type communication topology dynamics coupling is analyzed. The stability problem of high-dimensional vehicle queue is transformed into the stability problem of low-dimensional submodal. The sufficient and necessary conditions for the low-dimensional stability of vehicle queue system under general communication topology are given in the real number domain. The specific structure of communication topology and the design of controller are decoupled by Riccati (Riccati) inequality, and the influence of eigenvalue of communication topology matrix on the feasible region of linear matrix inequality (LMI) is used to characterize the influence of communication topology structure on the stability of vehicle queue. The computation of the controller is independent of the queue size. Secondly, the internal stability conditions of vehicle queue with homogeneous / heterogeneous parameter perturbation are analyzed. Based on the proposed controller design method, it is proved that the stability of vehicle queue under time-varying homogeneous parameter perturbation depends on the stability of queue system when the time constant perturbs the upper bound. By expressing the perturbation of heterogeneous parameters as a norm bounded form and combining the structural characteristics of the vehicle model, the perturbation interval of the heterogeneous parameters can be stabilized by the controller is given. In order to adapt to the complex traffic environment, the effects of heterogeneous communication delay and random communication topology switching on the stability of vehicle queue are further discussed. The upper bound of heterogeneous communication delay is given, and the controller designed can guarantee the internal stability of vehicle queue system with heterogeneous communication delay not greater than the upper bound. If the subcommunication topology has a directed spanning tree and the average resident time is not less than the lower bound proposed in this paper, the stability of the queue system can be guaranteed under the general communication topology switching condition. Under the condition of symmetric communication topology switching, the internal stability of the vehicle queue system requires that the communication topology has a joint spanning tree in a finite time. Finally, the vehicle queue test research based on dynamic simulation test bench is carried out. The experimental results show that the proposed controller can ensure the robustness of the vehicle queue system under homogeneous / heterogeneous parameter perturbation, heterogeneous delay and communication topology switching.
【学位授予单位】：清华大学
【学位级别】：博士
【学位授予年份】：2016
【分类号】：U495
，
本文编号：2374546
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