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

中文关键词  网联车辆  队列控制  有限时间稳定  滑模控制  预设性能控制

英文关键词  connected vehicles  platoon control  finite-time stability  sliding mode control  prescribed performance control

中文摘要

      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.

英文摘要

      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.