引用本文:宋秀兰,丁锋,漏小鑫,等.异构通信网联车系统鲁棒协同自适应巡航控制[J].控制与决策,2019,34(11):2407-2413
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异构通信网联车系统鲁棒协同自适应巡航控制
宋秀兰,丁锋,漏小鑫,何德峰
(浙江工业大学信息工程学院,杭州310023)
摘要:
考虑异构通信下的不确定网联车系统协同自适应巡航控制(CACC)问题,提出一种网联车系统鲁棒协同自适应巡航控制器设计方法.采用伯努利随机过程和具有可变输入延迟的跟踪模型描述具有参数不确定性和丢包及时延的异构通信网联车系统.为降低CACC控制器设计的复杂性,采用分散输出反馈控制结构和线性矩阵不等式技术,求解不确定异构通信网联车系统的CACC控制器.进一步,利用时滞系统方法和频域分析,建立保证闭环系统稳定和网联车辆系统弦稳定结果.最后通过一组四车辆三信道的网联车辆系统的仿真实验验证所提方法的有效性.
关键词:  网联车系统  协同自适应巡航控制  异构通信  不确定性  弦稳定性
DOI:10.13195/j.kzyjc.2019.0499
分类号:TP273
基金项目:国家自然科学基金项目(61803336);浙江省自然科学基金项目(LR17F030004).
Robust cooperative adaptive cruise control of connected vehicle systems with heterogonous communication
SONG Xiu-lan,DING Feng,LOU Xiao-xin,HE De-feng
(College of Information Engineering,Zhejiang University of Technology,Hangzhou310023,China)
Abstract:
Considering the cooperative adaptive cruise control(CACC) problem of uncertain connected vehicle systems with heterogonous communication, this paper presents a design method of robust controllers for the connected vehicle system. The Bernoulli stochastic process and tracking model with varying input-delays are integrated to formulate the connected vehicle system with parameter uncertainty, losing packet and time delays. To reduce the design complexity of CACC controllers, the decentralized output feedback control structure and linear matrix inequality technology are used to compute the CACC controller of the uncertain connected vehicle systems with heterogonous communication. Moreover, the results on the stability of the closed-loop system and the string stability of the connected vehicle system are established by the methods of time-delay systems and frequency domain analysis. Finally, a connected vehicle system consisting of four cars with communicated by three channels is used to simulate and illustrate the effectiveness of the proposed algorithms.
Key words:  connected vehicle systems  cooperative adaptive cruise control  heterogonous communication  uncertainties  string stability

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