Funnel-Based Predefined-Time Formation Control for Heterogeneous Vehicle Platoon With Asymptotic Tracking

IF 7.1 2区 计算机科学 Q1 ENGINEERING, ELECTRICAL & ELECTRONIC
Tingting Yang;Zhe Lu;Guozeng Cui;Shuchen Ding
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引用次数: 0

Abstract

Adaptive fuzzy predefined-time (PT) funnel formation control is investigated for uncertain third-order heterogeneous vehicle platoon systems (HVPSs) with collision avoidance, maintaining communication, asymptotic tracking, performance constraints (pre-specified transient behavior), actuator faults and external disturbance. Unlike the typical HVPSs results, the complete prior knowledge of the system parameters is not required. Firstly, to address the “explosion of complexity” challenge, an enhanced nonlinear PT filter is presented, which reduces the requirement of design parameter and improves the precision of linear filter. Then, an adaptive control strategy is proposed via backstepping technique and fuzzy approximation theory, which can realize the practical PT stability (PPTS) of HVPSs, and the asymptotic convergence of spacing errors is guaranteed by introducing smoothing function while meeting the constraint imposed by the performance funnel. Importantly, the complex Lyapunov function often associated with barrier Lyapunov function (BLF) technique can be avoided in this work. Finally, the validity of the theoretical results is verified by simulation of HVPSs under the predecessor-following communication topology.
基于漏斗的非均匀车辆队列渐近跟踪的预定义时间编队控制
研究了具有避碰、保持通信、渐近跟踪、性能约束(预先设定的瞬态行为)、执行器故障和外部干扰的不确定三阶异构车辆排系统(hvps)的自适应模糊预定义时间(PT)漏斗编队控制。与典型的hvps结果不同,不需要系统参数的完整先验知识。首先,针对“复杂度爆炸”的挑战,提出了一种增强的非线性PT滤波器,降低了对设计参数的要求,提高了线性滤波器的精度;然后,利用反演技术和模糊逼近理论提出了一种自适应控制策略,实现了hvps的实际PT稳定性,并在满足性能漏斗约束的前提下引入平滑函数,保证了间隔误差的渐近收敛。重要的是,在这项工作中可以避免与势垒李雅普诺夫函数(BLF)技术相关的复杂李雅普诺夫函数。最后,通过对前继通信拓扑下hvps的仿真验证了理论结果的有效性。
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来源期刊
CiteScore
6.00
自引率
8.80%
发文量
1245
审稿时长
6.3 months
期刊介绍: The scope of the Transactions is threefold (which was approved by the IEEE Periodicals Committee in 1967) and is published on the journal website as follows: Communications: The use of mobile radio on land, sea, and air, including cellular radio, two-way radio, and one-way radio, with applications to dispatch and control vehicles, mobile radiotelephone, radio paging, and status monitoring and reporting. Related areas include spectrum usage, component radio equipment such as cavities and antennas, compute control for radio systems, digital modulation and transmission techniques, mobile radio circuit design, radio propagation for vehicular communications, effects of ignition noise and radio frequency interference, and consideration of the vehicle as part of the radio operating environment. Transportation Systems: The use of electronic technology for the control of ground transportation systems including, but not limited to, traffic aid systems; traffic control systems; automatic vehicle identification, location, and monitoring systems; automated transport systems, with single and multiple vehicle control; and moving walkways or people-movers. Vehicular Electronics: The use of electronic or electrical components and systems for control, propulsion, or auxiliary functions, including but not limited to, electronic controls for engineer, drive train, convenience, safety, and other vehicle systems; sensors, actuators, and microprocessors for onboard use; electronic fuel control systems; vehicle electrical components and systems collision avoidance systems; electromagnetic compatibility in the vehicle environment; and electric vehicles and controls.
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