含变化时延和集总扰动的智能网联车编队控制  

Formation control for intelligent connected vehicles with time-varying delays and aggregate perturbation

作　　者：罗世坚 常琪 项玥 郭胜辉 LUO Shi-jian;CHANG Qi;XIANG Yue;GUO Sheng-hui(College of Electronics and Information Engineering,Suzhou University of Science and Technology,Suzhou 215009,China)

机构地区：[1]苏州科技大学电子与信息工程学院,江苏苏州215009

出　　处：《控制与决策》2025年第4期1293-1302,共10页Control and Decision

基　　金：国家自然科学基金项目(62303342);江苏省研究生科研与实践创新计划项目(SJCX23_1735);江苏高校境外研修计划项目。

摘　　要：针对智能网联车辆在通信受限环境下遇到的通信延迟、资源受限、集总扰动及非理想通信拓扑等影响,提出一种基于观测器的协同编队控制策略.首先,根据四元素模型对车辆队列系统进行动力学建模;其次,为解决系统部分状态不可测、集总扰动与可测噪声等问题设计积分观测器,依此设计协同编队控制策略;然后,构建误差系统并考虑H_(∞)性能指标,构造Lyapunov-Krasovskii泛函处理变化时延,将基于观测器的编队控制问题转化为误差系统稳定性问题,并推导出稳定充分条件;最后通过仿真结果验证所提方法的正确性和有效性.To address issues such as communication delays,resource constraints,aggregate perturbation,and non-ideal communication topologies encountered by intelligent and connected vehicles in a communication-limited environment,an observer-based coordinated formation control strategy is proposed.Firstly,the vehicle platoon system is dynamically modeled based on the four-element model.Then,to solve problems such as unmeasurable partial system states,aggregate perturbation,and measurable noise,an integral observer is designed.Based on this observer,a coordinated formation control strategy is formulated.Subsequently,an error system is constructed and an H_(∞) performance metric is introduced.By employing a Lyapunov-Krasovski functional to handle varying time delays,the observer-based formation control problem is transformed into a stability problem for the error system.Stable sufficient conditions are derived,and simulation results verify the correctness and effectiveness of the proposed method.

关 键 词：智能网联车 通信受限 变化时延 集总扰动 编队控制 观测器 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]