String Stability Analysis for Heterogeneous Vehicle Strings
String Stability Analysis for Heterogeneous Vehicle Strings
复制标题
DOI：
10.1109/acc.2007.4282789
复制
发表时间：
2007-07
期刊：
影响因子：
--
通讯作者：
E. Shaw;J. Hedrick
中科院分区：
文献类型：
--
作者：
E. Shaw;J. Hedrick
一串稳定、均匀的车辆串的间距误差沿车辆链均匀衰减。这一结果对实现车辆编队控制具有重要意义，因为它为适当的车辆间距提供了指导。在非均质情况下，车辆的不同动力学意味着间距误差不会沿车辆链均匀衰减或放大，无论地层是否稳定。问题出现在如何定义非均质串稳定性，以及为了保证名义上的安全，适当的车辆间距应该是什么。本文分析了采用等间距控制策略的简单分散控制律下的异构车辆串问题。提出了非均质弦稳定性的定义。给出了等间距前导-前导跟随控制策略的非均匀串稳定性的充分必要条件。通过分析最坏情况下的干扰对误差增益的影响，验证了控制方案的可扩展性。结果表明，对于任意长度和任意车型排序的异构车辆串，可以实现串的稳定性。
The spacing errors of a string stable, homogeneous vehicle string attenuate uniformly down the vehicle chain. This result is useful for implementing vehicle formation control because it provides a guideline for the proper intervehicle spacing. In the heterogeneous case, the differing dynamics of the vehicles means the spacing errors do not attenuate or amplify uniformly down the vehicle chain, regardless of whether the formation is string stable or not. Questions arise regarding how heterogeneous string stability should be defined, and what should the proper intervehicle spacing be in order to guarantee nominal safety. In this paper, heterogeneous vehicle strings under simple decentralized control laws with the constant spacing control policy are analyzed. A definition for heterogeneous string stability is proposed. The necessary and sufficient conditions for heterogeneous string stability are given for the constant spacing leader-predecessor following control strategy. The scalability of the control scheme is verified by analyzing the worst case disturbance to error gain. It is shown that string stability can be achieved for heterogeneous vehicle strings of arbitrary length and arbitrary vehicle type ordering.