马尔科夫链通信拓扑下的车辆队列最优能耗控制  

Energy consumption optimization control of vehicle platoon with Markovian switching topologies

作　　者：闫茂德[1] 君萌萌 左磊 YAN Mao-de;JUN Meng-meng;ZUO Lei(School of Electronic and Control Engineering,Chang’an University,Xi’an 710064,China)

机构地区：[1]长安大学电子与控制工程学院,西安710064

出　　处：《控制与决策》2024年第1期161-170,共10页Control and Decision

基　　金：国家重点研发计划项目(2021YFA100303);国家自然科学基金项目(51909008);陕西省重点研发计划-一般项目(2022GY-297);中国博士后基金项目(2021M692740)。

摘　　要：针对马尔科夫链通信拓扑下的车辆队列控制问题,综合考虑车辆队列的非线性动力学模型和行驶能耗优化目标,提出一种基于分布式状态观测器的车辆队列能耗优化控制方法.由于在马尔科夫链通信拓扑下,部分车辆获取的邻居车辆信息具有动态切换特性,严重影响了车辆队列控制算法的有效性和稳定性.鉴于此,首先,设计一种用于估计领航车辆状态信息的状态观测器,有效避免通讯拓扑切换对队列控制系统造成的干扰;然后,结合车辆的非线性动力学模型与队列优化目标,构建一种基于指数折扣函数的车辆队列能耗优化框架,将车辆队列的能耗优化问题转化为Riccati方程的求解问题,进而得到车辆队列的最优能耗控制输入,在此基础上,通过构造动态通信拓扑下的李雅普诺夫函数,分析车辆队列控制系统的稳定性条件,即只要每个可能的通信拓扑均需包含一个以领航车辆为根的有向生成树,就可使得该车辆队列控制系统满足稳定性和队列稳定性;最后,通过数值仿真验证所提出控制算法的可行性和有效性.This paper investigates the vehicle platoon control problems with the Markov-chain switching topologies.While considering the vehicle's nonlinear dynamics and optimal energy consumption object,we propose a distributed observation based vehicle platoon control scheme.Since the switching topologies would seriously affect the effectiveness and stability of the platoon control system,we use the information of neighbor vehicles to approximate the states of the leader vehicle.In this way,it would effectively avoid the interference caused by the switching topologies.Then,for the energy consumption optimization,an energy-optimal framework of vehicle platoon is developed based on the exponential discount function.Moreover,we employ the Riccati equation to solve this optimization problem.On this basis,the stability of the proposed platoon control system is theoretically proved by constructing the Lyapunov function with the Markov-chain switching topologies.In details,as long as each possible topology contains a directed spanning tree with the root at leader vehicle,the system satisfies internal stability and input-to-state string stability(ISSS).Finally,the theoretical results are verified by numerical simulations.

关 键 词：最优控制 车辆队列 动态拓扑 马尔科夫链 状态观测器 非线性动力学 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]