ROBUST APPROXIMATE CONSTRAINT-FOLLOWING CONTROL FOR AUTONOMOUS VEHICLE PLATOON SYSTEMS
ROBUST APPROXIMATE CONSTRAINT-FOLLOWING CONTROL FOR AUTONOMOUS VEHICLE PLATOON SYSTEMS
复制标题
自动车辆排系统的鲁棒近似约束跟随控制
DOI：
10.1002/asjc.1676
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发表时间：
2018
影响因子：
2.4
通讯作者：
Zhao Han
中科院分区：
文献类型：
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作者：
Zhao Xiaomin;Chen Y. H.;Zhao Han
考虑了一个由N +1辆车组成的具有模型不确定性的自主车队系统。不确定性可能是由于参数变化、空气动力学、外部干扰等，它是非线性的，随时间变化的在避免碰撞的考虑下，原始状态是单侧限制的。为了解决这个问题，我们提出了一个状态转换到一个全局无界状态的有界状态。此外，出于对人工群体系统的属性，我们把群体系统的性能到队列系统作为一个达朗贝尔的约束。通过Udwadia和Kalaba的方法，我们得到了约束力的解析（封闭形式）表达式。在此基础上，提出了一种针对每辆车（首车除外）的鲁棒控制方法，使车队系统遵循理想群体模型。完成了四个主要的系统性能：（i）紧凑的车辆编队，（ii）碰撞避免，（iii）稳定的队列系统编队，（iv）全局行为。
We consider an autonomous vehicle platoon system consisting ofN+1 vehicles in the presence of modeling uncertainty. The uncertainty may be due to parameter variations, aerodynamics, external disturbances, etc., which is nonlinear and time‐varying. Subject to the collision avoidance consideration, the original state is one‐sided restricted. To resolve this restriction, we propose a state transformation to convert the bounded state into a globally unbounded state. Furthermore, motivated by the properties of artificial swarm systems, we incorporate the swarm system performance into the platoon system by treating it as a d'Alembert's constraint. By the Udwadia and Kalaba's approach, we obtain the analytic (closed‐form) expression of the constraint force. Based on this, a class of robust controls for each vehicle (except the leading vehicle) is proposed to drive the platoon system to follow the ideal swarm model. Four major system performances are accomplished: (i)compact vehicle formation, (ii)collision avoidance, (iii)stable platoon system formation, (iv)global behavior.