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

中文关键词  自动车辆  车对车通信  平均驻留时间  自适应事件触发

英文关键词  automated vehicles  vehicle to vehicle communications  average dwell time  adaptive event-triggered

中文摘要

      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

英文摘要

      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.