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考虑执行器非线性的固定时间全局预设性能车辆队列控制

高振宇 孙振超 郭戈

高振宇, 孙振超, 郭戈. 考虑执行器非线性的固定时间全局预设性能车辆队列控制. 自动化学报, 2024, 50(2): 100−113 doi: 10.16383/j.aas.c230189
引用本文: 高振宇, 孙振超, 郭戈. 考虑执行器非线性的固定时间全局预设性能车辆队列控制. 自动化学报, 2024, 50(2): 100−113 doi: 10.16383/j.aas.c230189
Gao Zhen-Yu, Sun Zhen-Chao, Guo Ge. Fixed-time global prescribed performance control for vehicular platoons with actuator nonlinearities. Acta Automatica Sinica, 2024, 50(2): 100−113 doi: 10.16383/j.aas.c230189
Citation: Gao Zhen-Yu, Sun Zhen-Chao, Guo Ge. Fixed-time global prescribed performance control for vehicular platoons with actuator nonlinearities. Acta Automatica Sinica, 2024, 50(2): 100−113 doi: 10.16383/j.aas.c230189

考虑执行器非线性的固定时间全局预设性能车辆队列控制

doi: 10.16383/j.aas.c230189
基金项目: 国家自然科学基金 (62303101), 河北省自然科学基金(F2023501001), 中央高校基本科研业务费 (N2223036), 2023年河北省硕士在读研究生创新能力培养资助项目 (CXZZSS2023205)资助
详细信息
    作者简介:

    高振宇:东北大学秦皇岛分校副研究员. 主要研究方向为网联车辆队列控制与智能交通系统. 本文通信作者. E-mail: 18840839109@163.com

    孙振超:东北大学秦皇岛分校硕士研究生. 主要研究方向为网联车辆队列控制与智能交通系统. E-mail: szc722@163.com

    郭戈:东北大学教授. 主要研究方向为智能交通系统, 交通大数据分析, 人工智能应用和信息物理系统. E-mail: geguo@yeah.net

Fixed-time Global Prescribed Performance Control for Vehicular Platoons With Actuator Nonlinearities

Funds: Supported by National Natural Science Foundation of China (62303101), Natural Science Foundation of Hebei Province (F2023501001), the Fundamental Research Funds for the Central Universities (N2223036), and 2023 Hebei Provincial Postgraduate Student Innovation Ability Training Funding Project (CXZZSS2023205)
More Information
    Author Bio:

    GAO Zhen-Yu Associate professor at Northeastern University at Qinhuangdao. His research interest covers platoon control of connected vehicles and intelligent transportation systems. Corresponding author of this paper

    SUN Zhen-Chao Master student at Northeastern University at Qinhuangdao. His research interest covers platoon control of connected vehicles and intelligent transportation systems

    GUO Ge Professor at Northeastern University. His research interest covers intelligent transportation systems, traffic big data analysis, artificial intelligence applications, and information physical systems

  • 摘要: 针对含有执行器非线性的车辆队列控制系统, 提出一种固定时间全局预设性能控制(Global prescribed performance control, GPPC) 控制方法. 首先, 设计一种平滑等效变换, 在同一框架下解决死区及饱和问题, 同时消除执行器非线性固有拐点问题. 其次, 构造两个新型性能函数, 并基于此提出一种全局预设性能控制算法, 实现如下目标: 1) 保证跟踪误差在固定时间内收敛到预定稳态区域; 2) 消除初始误差必须已知的限制; 3) 减小误差的超调量. 然后, 基于上述等效变换及预设性能控制算法, 设计一种固定时间滑模队列容错控制方案, 实现固定时间单车稳定及队列稳定. 最后, 通过 MATLAB 仿真实验, 验证了所提算法的有效性.
  • 图  1  车辆队列构型

    Fig.  1  Configuration of vehicular platoon

    图  2  $u_{ui}(\varLambda_i)$ 和 $H_i(\varLambda_i)$ 的曲线图

    Fig.  2  Curves of $u_{ui}(\varLambda_i)$ and $H_i(\varLambda_i)$

    图  3  每辆车位置信息 $x_i(t)$

    Fig.  3  The position $x_i(t)$ of each vehicle

    图  8  每辆车跟踪误差信息 $e_i(t)$

    Fig.  8  The tracking error $e_i(t)$ of each vehicle

    图  4  每辆车速度信息 $v_i(t)$

    Fig.  4  The velocity $v_i(t)$ of each vehicle

    图  5  每辆车加速度信息 $a_i(t)$

    Fig.  5  The acceleration $a_i(t)$ of each vehicle

    图  6  每辆车控制输入信息 $u_i(t)$

    Fig.  6  The control input $u_i(t)$ of each vehicle

    图  7  每辆车滑模面信息 $S_i(t)$

    Fig.  7  The sliding mode surface $S_i(t)$ of each vehicle

    图  9  每辆车滑模面信息 $S_i(t)$

    Fig.  9  The sliding mode surface $S_i(t)$ of each vehicle

    图  10  每辆车跟踪误差信息 $e_i(t)$

    Fig.  10  The tracking error $e_i(t)$ of each vehicle

    图  11  每辆车滑模面信息 $S_i(t)$

    Fig.  11  The sliding mode surface $S_i(t)$ of each vehicle

    图  12  每辆车跟踪误差信息 $e_i(t)$

    Fig.  12  The tracking error $e_i(t)$ of each vehicle

    表  1  车辆 i 各参数的定义

    Table  1  The defination of each parameter of vehicle i

    参数 定义 参数 定义
    $m_i$ 第 $i$ 辆车的质量 $\rho_a$ 空气质量
    $\omega_i(t)$ 外部扰动 $C_{ai}$ 空气动力阻力系数
    $g$ 重力加速度 $\theta_i$ 道路坡度角度
    $A_i$ 车辆横截面积 $b_i$ 道路阻力滚动系数
    $u_i(t)$ 控制输入 $\tau_i$ 发动机时间常数
    $\rho_i(t)$ 驱动效率 $r_i(t)$ 偏置故障
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  • 收稿日期:  2023-04-07
  • 录用日期:  2023-06-14
  • 网络出版日期:  2023-07-10

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