基于事件触发机制的智能车编队控制  

Event-triggered Consensus Control for Platooning of Vehicles

作　　者：杨建平 胡江平[1] 吕维 YANG Jian-ping;HU Jiang-ping;LV Wei(School of Automation Engineering,University of Electronic Science and Technology of China,Chengdu 611731,China)

机构地区：[1]电子科技大学自动化工程学院,成都611731

出　　处：《控制工程》2019年第3期393-397,共5页Control Engineering of China

基　　金：国家自然科学基金项目(61104104;61473061;71503206);教育部"新世纪优秀人才支持计划"项目(NCET-13-0091)

摘　　要：考虑多个自主移动的智能车编队问题,为了减少车辆行驶过程中多辆车频繁通信带来的能量消耗,提出了一种基于事件触发机制的智能车编队控制算法。该算法通过在相邻车辆之间加入安全距离,避免了相邻车辆碰撞的发生。首先对车辆设计事件触发控制器,然后通过一致性分析得到事件触发机制,并对算法的Zeno行为进行分析,对算法的有效性给出了证明。最后,通过系统仿真验证了控制器的正确性和算法的有效性。We consider the platooning problem for a group of autonomous mobile vehicles. In order to reduce the energy consumption of communications among vehicles in the moving process, we present an event-triggered consensus control approach. The safe distance is added to avoid collision between the adjacent vehicles. We firstly design event-triggered controllers for all the vehicles in the platoon. Besides, an event-triggering mechanism is analyzed and we prove that the Zeno behavior is avoided in the event-triggered process. Finally, numerical simulations are provided to verify the effectiveness of the proposed approach.

关 键 词：事件触发控制 编队 移动智能车 Zeno行为 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]