网联车辆有限时间滑模预设性能队列控制  

Finite-time sliding mode prescribed performance platoon control of connected vehicles

作　　者：高振宇 孙振超 郭戈 GAO Zhen-yu;SUN Zhen-chao;GUO Ge(College of Control Engineering,Northeastern University at Qinhuangdao,Qinhuangdao Hebei 066004,China;State Key Laboratory of Synthetical Automation for Industrial Process,Northeastern University,Shenyang Liaoning 110004,China)

机构地区：[1]东北大学秦皇岛分校控制工程学院,河北秦皇岛066004 [2]东北大学流程工业综合自动化国家重点实验室,辽宁沈阳110004

出　　处：《控制理论与应用》2023年第11期1891-1902,共12页Control Theory & Applications

基　　金：国家自然科学基金项目(62303101,62173079);河北省自然科学基金项目(F2023501001);中央高校基本科研业务费项目(N2223036)资助。

摘　　要：针对含有未知扰动和模型不确定的网联车辆预设性能队列控制问题,本文提出了一种基于改进滑模的有限时间队列控制方法.首先,为满足预设性能,设计了一种新型性能函数,保证了跟踪误差在预设时间内收敛到规定区域.其次,提出了一种改进的滑模队列控制算法,加快了系统收敛速度,实现了有限时间单车稳定及队列稳定,同时,设计了自适应律,有效解决了扰动及模型不确定问题.最后,进行了MATLAB仿真实验,通过6辆网联车的队列控制仿真验证了所提算法的有效性.This paper focus on the prescribed performance platoon control of connected vehicles subject to unknown disturbances and model uncertainties,and a novel platoon control scheme based on improved sliding mode control is proposed in this paper.First,to satisfy the prescribed performance of the vehicular platoon,a novel finite-time prescribed performance function is designed,with which the tracking errors can converge to the given region in settling time.Then,an improved sliding mode control scheme is proposed,which speeds up the convergence speed of the system.The given scheme is proved to be capable of guaranteeing the individual vehicle stability and string stability in finite-time of the platoon.At the same time,the effects of unknown disturbances and model uncertainties are dealt with by introducing a set of adaptive estimation laws.Finally,the effectiveness of the proposed algorithm is verified by the simulation of platoon control of six connected vehicles in MATLAB.

关 键 词：网联车辆 队列控制 有限时间稳定 滑模控制 预设性能控制 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置] U495[自动化与计算机技术—控制科学与工程]