车辆编队系统的分布式控制  

Distributed Control of Vehicle Platoon System

作　　者：李晖[1] 伍清河[1] 黄煌[1] 

机构地区：[1]北京理工大学自动化学院,北京100081

出　　处：《北京理工大学学报》2009年第11期972-977,共6页Transactions of Beijing Institute of Technology

基　　金：北京理工大学研究生创新基金

摘　　要：基于关联系统模型研究智能车辆编队的分布式控制.通过引入空间变量和空间移动算子,将车辆编队系统建模成多维的空间关联系统.基于线性矩阵不等式的方法设计了与被控对象有着相同关联结构的分布式输出反馈H∞控制器,确保整个编队系统的适定性、稳定性及对外界干扰的鲁棒性.在Matlab环境下编程验证控制器的性能,并通过3台移动机器人的模拟车辆编队仿真实验,说明模型的正确性和方法的有效性.Distributed control method of vehicle platoon system was investigated based on the model of interconnected system. The multiple vehicle platoon system is modeled as a multidimensional spatially interconnected system by introducing spatial variables and spatial shift operators. Distributed output feedback H∞ controllers which have the same structure as the plants are designed to ensure that the whole platoon system is well-posed, stable and robust to exogenous disturbance. The controllers are obtained in terms of linear matrix inequalities. The control performance is validated on MATLAB software, and the simulation results of three mobile robots which imitate the vehicle platoon demonstrating the correctness of the model and effectiveness of the method.

关 键 词：分布式控制 车辆编队 关联系统 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]