Constraint-Driven Multilane Merging Control for Underactuated Connected and Automated Vehicle System With Mismatched Uncertainty

IF 3.2 3区计算机科学 Q2 AUTOMATION & CONTROL SYSTEMS

International Journal of Robust and Nonlinear Control Pub Date : 2024-11-06 DOI:10.1002/rnc.7700

Qinwen Yang, Jiawen Li, Gang Xiao, Xueyun Li, Linjie Ren, Jin Huang

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Abstract

This article investigates the merging control for underactuated connected and automated vehicle (CAV) systems with mismatched uncertainty. The objective is to guarantee the safe and prescribed dynamic performance of the system during multilane merging. For CAV multidimensional motions, a strongly coupled vehicle dynamics with time-varying uncertainties is constructed. For the nominal system, the control objectives are designed as system constraints, with equality constraints guaranteeing merging and time-varying inequality constraints guaranteeing dynamic performance bounds. Based on the diffeomorphism method and bounded constraint, the system constraints are reconstructed to a unified representation. Combining system constraints and underactuated structure, the nominal controller is derived based on constraint-following. For the uncertain system, the uncertainty is decomposed into matched and mismatched portions by orthogonal decomposition. The adaptive robust controller is designed based only on matched uncertainty. Through Lyapunov minimax analysis, the control renders the errors uniformly bounded and uniformly ultimately bounded. Simulation results show that merging and platooning are effectively achieved with the proposed control. The system has excellent transient and steady state performance even in the presence of time-varying uncertainties.

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不匹配不确定性欠驱动网联自动车辆系统的约束驱动多车道合并控制

本文研究了具有不匹配不确定性的欠驱动网联自动车辆（CAV）系统的合并控制问题。目的是保证系统在多车道合流时的安全及规定的动态性能。针对CAV的多维运动，构造了具有时变不确定性的强耦合车辆动力学模型。对于标称系统，将控制目标设计为系统约束，其中等式约束保证合并，时变不等式约束保证动态性能边界。基于差分同构方法和有界约束，将系统约束重构为统一的表示。结合系统约束和欠驱动结构，推导了基于约束跟随的标称控制器。对于不确定系统，采用正交分解方法将不确定性分解为匹配部分和不匹配部分。设计了基于匹配不确定性的自适应鲁棒控制器。通过李雅普诺夫极大极小分析，使控制误差一致有界并最终一致有界。仿真结果表明，所提出的控制方法能够有效地实现车辆的合并和排队。即使存在时变不确定性，该系统也具有良好的瞬态和稳态性能。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

International Journal of Robust and Nonlinear Control 工程技术-工程：电子与电气

CiteScore

6.70

自引率

20.50%

发文量

505

审稿时长

2.7 months

期刊介绍： Papers that do not include an element of robust or nonlinear control and estimation theory will not be considered by the journal, and all papers will be expected to include significant novel content. The focus of the journal is on model based control design approaches rather than heuristic or rule based methods. Papers on neural networks will have to be of exceptional novelty to be considered for the journal.