时变通信拓扑下车辆队列的自适应事件触发混合H_(∞)与无源性控制  

Adaptive event-triggered mixed H_(∞)/passive platooning control of automated vehicles under time-varying communication topologies

作　　者：王斌斌 石厅[1] WANG Bin-bin;SHI Ting(School of Automation,Hangzhou Dianzi University,Hangzhou Zhejiang 310061,China)

机构地区：[1]杭州电子科技大学自动化学院,浙江杭州310061

出　　处：《控制理论与应用》2025年第1期67-75,共9页Control Theory & Applications

基　　金：浙江省自然科学基金项目(LY21F030007)资助.

摘　　要：本文研究了时变通信拓扑影响下,车辆自组织网络(VANET)上自动车辆的自适应事件触发队列控制问题.为了描述车对车(V2V)通信拓扑的时变特性,本文采用“基于平均驻留时间”的切换信号对其建模.为了降低通信负担,本文采用了一种新的自适应事件触发机制.与传统触发机制不同,该触发机制的阈值参数并非常数,而是能根据车辆的状态变化进行实时的动态调节,据此建立车辆队列误差模型.为降低外界扰动的影响,引入混合H_(∞)与无源性能指标,使控制系统对干扰具有较强的鲁棒性.通过构建模态依赖的李雅普诺夫函数,得到控制算法,并通过一个数值仿真验证了本文提出理论算法的有效性.This paper addresses the problem of adaptive event-triggered platooning control of automated vehicles over a vehicular ad-hoc network(VANET)subject to time-varying communication topologies.In order to describe the timevarying characteristics of vehicle to vehicle(V2V)communications,this paper uses the switching signal based on“average dwell time”to model it.In order to reduce the communication burden,a novel adaptive event-triggered mechanism is adopted.Different from the traditional triggered mechanism,the threshold parameter of the triggered mechanism is not a constant,but can be dynamically adjusted in real-time according to the vehicular state variations.Based on this,the error model for the vehicular platoon is established.Then,mixed H_(∞)/passive performance index is introduced to reduce the influence of external disturbance,so that the control system has strong robustness against disturbance.By constructing the mode-dependent Lyapunov function,the control algorithm is obtained.Numerical simulations are proposed to verify the effectiveness of the theoretical findings obtained in this work.

关 键 词：自动车辆 车对车通信 平均驻留时间 自适应事件触发 

分 类 号：TN9[电子电信—信息与通信工程]