| 引用本文: | 余伶俐,况宗旭,王正久,周开军.智能车辆队列横纵向有限时间滑模控制[J].控制理论与应用,2021,38(8):1299~1312.[点击复制] |
| YU Ling-li,KUANG Zong-xu,WANG Zheng-jiu,ZHOU Kai-jun.Intelligent vehicle platoon lateral and longitudinal control based on finite-time sliding mode control[J].Control Theory and Technology,2021,38(8):1299~1312.[点击复制] |
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| 智能车辆队列横纵向有限时间滑模控制 |
| Intelligent vehicle platoon lateral and longitudinal control based on finite-time sliding mode control |
| 摘要点击 2067 全文点击 561 投稿时间：2020-06-25 修订日期：2020-12-23 |
| 查看全文 查看/发表评论 下载PDF阅读器 |
| DOI编号 10.7641/CTA.2021.00389 |
| 2021,38(8):1299-1312 |
| 中文关键词 智能车辆队列 分布式控制 耦合效应 有限时间控制 队列稳定性 |
| 英文关键词 intelligent vehicle platoon distributed control coupling effects finite-time control string stability |
| 基金项目 国家重点研发计划项目(2018YFB1201602), 国家自然科学基金项目(61976224, 61403426), 湖南省科技重大专项(2017GK1010), 湖南省自然科学 基金项目(2018JJ2531, 2018JJ2197)资助. |
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| 中文摘要 |
| 针对智能车辆队列横纵向控制及误差快速收敛问题, 本文提出一种分布式横纵向有限时间滑模控制策略.
首先, 考虑跟踪误差的连锁反应及横纵向耦合效应, 利用投影变换建立车辆队列横纵向误差模型, 提出一种车辆队
列横纵向控制框架. 而后, 针对误差快速收敛问题, 设计非奇异积分终端滑模面(NITSM)与自适应幂次积分趋近
律(APIRL), 通过构造Lyapunov函数分析系统的有限时间稳定性与队列稳定性. 最后, 基于Trucksim/Simulink联合仿
真以及实车实验进一步验证了本文方法的有效性. 结果表明, 本文所提方法能保证队列稳定性, 并实现误差快速收
敛, 规避跟踪误差的连锁反应及车辆横向运动对纵向车间距误差的影响. |
| 英文摘要 |
| A distributed control method is proposed based on finite-time sliding mode control for lateral and longitudinal
control of platoon and fast convergence of errors. First, considering the chain reaction of tracking errors and coupling
effects of vehicle lateral and longitudinal movement, lateral and longitudinal error model of platoon is established based
on projection transformation, and the control framework of platoon is put forward. Then, aiming at the fast convergence of
errors, nonsingular integral terminal sliding mode surface and adaptive integral power reaching law are designed. Finitetime
stability and string stability of the system are analyzed by constructing Lyapunov function. Finally, Trucksim/Simulink
joint simulation and real vehicle experiments further verify the effectiveness of the method in this research. The results show
that the proposed method can guarantee the string stability, realize the rapid convergence of errors, and avoid the tracking
error chain reaction and influence of lateral movement on longitudinal spacing error. |
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