执行器饱和异构车队的稳定性分析  

Stability Analyze of Heterogeneous Vehicle Platoons with Actuator Saturation

作　　者：高强 田广旭 郭祥贵 GAO Qiang;TIAN Guang-xu;GUO Xiang-gui(School of Electrical Engineering,Tianjin University of Technology,Tianjin 300384,China;School of Electrical Engineering,Beijing university of science and technology,Beijing 100083,China)

机构地区：[1]天津理工大学电气电子工程学院,天津300384 [2]北京科技大学自动化学院,北京100083

出　　处：《计算机仿真》2018年第7期98-102,共5页Computer Simulation

基　　金：天津市中青年骨干创新人才培养计划项目(20130830);天津市高等学校科技发展基金项目(2012BA22);天津市高等学校创新团队培养计划资助(TD12-5015);国家自然科学基金(61403279);中国博士后基金(2017M610046)

摘　　要：针对基于网络的异构自主车队,建立了充分考虑执行器饱和、外部有界未知加速度干扰的车队纵向控制模型,并采用固定车间距策略以提高交通密度和交通流量。考虑到饱和是一种非对称非线性执行器死区饱和,基于耦合滑模控制方法给出了二阶跟随车队的分布式滑模控制器设计方法。此外,采用自适应补偿技术补偿外部干扰和饱和的时变影响并基于李雅普诺夫稳定性理论,证明了车队的队列稳定性。最后,仿真证明了上述方法的有效性。Aiming at the important subject about heterogeneous team control based on network, this paper is con- cerned with a leader-follower problem for a heterogeneous vehicle platoon subject to actuator saturation and external bounded unknown acceleration disturbances. Distributed controllers based on sliding mode control （SMC） approach were designed for the second-order follower-vehicles. The actuator saturation is a type of asymmetric nonlinear actua- tor deadzone saturation. The constant spacing policy which has high traffic density and thus has high traffic flow was applied to design the distributed controllers. In addition, adaptive compensation technique was applied to compensate the time-varying effect of external disturbances. Furthermore, with the help of an explicitly constructed Lyapunov function, it was proved that the string stability of the vehicle platoon can be guaranteed. Finally, the simulation proved the effectiveness of the proposed method.

关 键 词：执行器饱和 滑模控制 固定车间距策略 自适应补偿技术 队列稳定性 

分 类 号：TP391.9[自动化与计算机技术—计算机应用技术]