非均匀车辆排的集中与分散自适应控制:等时间间隔策略

H. Chehardoli, M. Homaeinezhad
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引用次数: 1

摘要

本文研究了非同构车辆一维队列的自适应控制与识别问题。将前导跟随(PF)、双向前导跟随(BDLF)和两个前导跟随(TPF)三种常见的不同拓扑结构作为排的通信结构。针对每种拓扑结构,引入了一种新的基于邻域的自适应控制律来估计参数的不确定性。采用恒时间间隔策略(CTGS)对车辆间距进行调整。对于每种拓扑结构,都证明了排的闭环动力学是渐近稳定的。然后,通过进一步的定理推导出保证每种拓扑结构的弦稳定性的控制参数的必要条件。不同场景下的仿真结果表明了所提方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Centralized and decentralized adaptive control of non-uniform platoon of vehicles: Constant time gap strategy
This paper deals with the adaptive control and identification of 1-D platoon of non-identical vehicles. Three common different topologies such as predecessor following (PF), bi-directional leader following (BDLF) and two predecessors following (TPF) are considered as the communication structures of platoon. For each topology, a new neighbor-based adaptive control law is introduced to estimate the parameter uncertainties. Constant time gap strategy (CTGS) is used to adjust the intervehicle spacing. For each topology, it is shown that the closed-loop dynamics of platoon is asymptotically stable. Afterwards, the necessary conditions on control parameters assuring the string stability for each topology are derived by presenting further theorems. Simulation results with different scenarios are provided to show the effectiveness of the presented approaches.
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