基于全局快速积分终端滑模的智能车队有限时间纵向控制  

Finite Time Longitudinal Control of Intelligent Vehicle Platoon Based onGlobal Fast Integral Terminal Sliding Mode

作　　者：殷春芳[1] 谢永权 施德华[2] 汪少华[2] 李春 YIN Chunfang;XIE Yongquan;SHI Dehua;WANG Shaohua;LI Chun(School of Electrical and Information Engineering,Jiangsu University,Zhenjiang,Jiangsu 212013,China;Automotive Engineering Research Institute,Jiangsu University,Zhenjiang,Jiangsu 212013,China;Higer Bus Company Limited,Suzhou,Jiangsu 215026,China)

机构地区：[1]江苏大学电气信息工程学院,江苏镇江212013 [2]江苏大学汽车工程研究院,江苏镇江212013 [3]金龙联合汽车工业(苏州)有限公司,江苏苏州215026

出　　处：《西安交通大学学报》2023年第7期50-61,共12页Journal of Xi'an Jiaotong University

基　　金：国家自然科学基金资助项目(51905219);江苏省重点研发计划资助项目(BE2021011-2,BE2021011-3);青年人才托举工程资助项目(2020QNRC001)。

摘　　要：针对智能车辆队列纵向协同控制问题,提出一种基于终端滑模和非光滑趋近律的有限时间控制算法以提高车队系统车间距的收敛性能和强队列稳定性。首先,为加快车辆队列车间距误差的收敛速度,实现目标车速的快速跟踪,构建包含车间距误差积分项的全局快速积分终端滑模面(GFITSMS)。其次,针对由外部干扰作用造成的车间距稳态收敛误差,提出连续但不可导的非光滑趋近律(NSRL),并基于提出的GFITSMS和NSRL构建全局快速积分终端滑模控制器(GFITSMC),通过构造Lyapunov函数,分析车队系统的队列有限时间稳定性和车间距误差的快速收敛性。研究结果表明,在首车-跟随(LF)通信拓扑结构下,相较于普通滑模控制器(SMC)和双幂次滑模控制器(DPSMC),所提有限时间控制器使车间距误差收敛时间分别减少了56.3%和50%,误差峰值分别降低了72%和58%。在前车-跟随(PF)通信拓扑结构下,车间距误差收敛时间分别减少了51.4%和48.6%。这表明所提有限时间控制算法在两种不同通信拓扑结构下均能有效地提高车间距误差的快速收敛性能和鲁棒性能,并显著改善由控制器产生抖振导致的车辆频繁加减速现象。For the longitudinal cooperative control of intelligent vehicle platoon,a finite time control algorithm based on terminal sliding mode and non-smooth reaching law is proposed to improve the convergence performance of vehicle spacing and string stability for vehicle platoon.Firstly,in order to speed up the convergence of vehicle spacing error in the vehicle platoon and achieve fast tracking of the target vehicle speed,a global fast integral terminal sliding mode surface(GFITSMS)which includes the integral term of vehicle spacing error is constructed.After that,for the steady-state convergence error of vehicle spacing caused by external disturbance,a continuous but non-derivable non-smooth reaching law(NSRL)is proposed,and a global fast integral terminal sliding mode controller(GFITSMC)is further designed based on the GFITSMS and NSRL proposed.By constructing Lyapunov function,the finite time stability of intelligent vehicle platoon and the fast convergence performance of vehicle spacing error are analyzed.Research results demonstrate that,under the leading-following(LF)communication topology,compared with regular sliding mode controller(SCM)and double power sliding mode controller(DPSMC),the finite-time control strategy proposed effectively reduce the time of the vehicle spacing error convergence by 56.3%and 50%,peak error by 72%and 58%respectively.Under the preceding-following(PF)communication topology,the time of the vehicle spacing error convergence is reduced by 51.4%and 48.6%.Those reductions demonstrate that the finite-time control algorithm proposed herein will effectively improve the fast convergence and robust performance of the vehicle spacing error under both communication topologies,and also significantly improve the frequent vehicle acceleration and deceleration caused by the controller chattering.

关 键 词：智能车辆队列 纵向协同驾驶 有限时间控制 终端滑模 非光滑趋近律 

分 类 号：U461.1[机械工程—车辆工程]