基于反馈控制的四轮车辆编队研究  

Research on four-wheel vehicle formation based on feedback control

作　　者：冯绪永 崔立堃[1] 王承祥 杜明明 FENG Xu-yong;CUI Li-kun;WANG Cheng-xiang;DU Ming-ming(School of Mechanical Engineering,Shaanxi University of Technology,Hanzhong 723000,China)

机构地区：[1]陕西理工大学机械工程学院,陕西汉中723000

出　　处：《陕西理工大学学报（自然科学版）》2022年第2期22-27,共6页Journal of Shaanxi University of Technology:Natural Science Edition

基　　金：国家自然科学基金资助项目(51706128)。

摘　　要：为了解决多车辆协同编队控制问题,以车辆运动学模型为基础,根据虚拟结构编队策略,把多车辆的协同编队控制问题转变为对虚拟车辆的轨迹跟踪问题。根据李雅普诺夫第二法设计出新的跟踪反馈控制器,对编队车辆跟踪误差进行控制。通过MATLAB仿真实验验证了该控制器的有效性,实验结果表明所设计的控制器在车辆横向与航向误差调整时间方面具有快速性,在存在初始误差的前提下,编队车辆的纵向误差在10 s内趋近于0。该控制方法在未来的智能车编队控制方面有一定的应用价值。In order to solve the problem of multi-vehicle cooperative formation control,based on the vehicle kinematic model,according to the virtual structure formation strategy,the cooperative formation control problem of multiple vehicles is transformed into the virtual vehicle trajectory tracking problem.Based on the Lyapunov second method,a new tracking feedback controller is designed to control the system error.The effectiveness of the controller is verified by MATLAB simulation experiments.Moreover,the controller is fast in the aspect of vehicle lateral and heading error adjustment time.Under the premise of initial errors,the longitudinal errors of formation vehicles approach zero within 10 seconds.And the control method has certain application value in the future formation control of intelligent vehicles.

关 键 词：反馈控制 四轮车辆 轨迹跟踪 协同编队 

分 类 号：U495[交通运输工程—交通运输规划与管理] TP273[交通运输工程—道路与铁道工程]