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I
具有不确定性的多车辆队列系统自适应协同控制研究
[摘 要]
随着我国人工智能领域的高速发展,汽车行业逐渐迈向智能化。以队列
行驶为典型代表的多车辆系统协同控制技术可以大幅度提高道路通行效率、
降低安全事故发生率、加强节能减排利用率。因此,该技术受到了许多学者
的高度重视。目前,针对多车辆队列系统协同控制的研究有许多杰出的成果,
但是仍缺乏面向收敛时间、输出死区、不匹配的未知干扰以及系统不确定性
等复杂约束的队列控制分析方法。在车辆队列行驶的过程中,考虑上述复杂
约束是必要的,否则易发生严重的交通事故。因此,本文主要对于具有不确
定性的多车辆队列系统自适应协同控制进行研究,具体内容阐述如下:
1
、针对具有模型不确定性的同构多车辆队列系统,提出无奇异性的分
布式自适应固定时间神经网络队列跟踪控制策略。构建更符合实际交通情况
的三阶车辆队列动力学模型。然后,设计新颖的光滑切换函数,能够有效地
解决传统固定时间控制存在的奇异性问题。此外,通过
Lyapunov
理论、
H
控制和实际固定时间控制方法,推导出系统稳定的充分条件。最后,通过四
种不同场景的仿真实验,验证所提出控制策略的有效性。
2
、针对具有模型不确定性和输出死区的异构多车辆队列系统,提出一
种基于改进的二次间距策略和扩展状态观测器的自适应神经网络队列跟踪控
制方案。设计改进的二次间距策略,消除现有结果中初始间距误差为零的假
设。然后,建立一组二阶扩展状态观测器,实时地估计各信道的匹配和不匹
配的总干扰,并利用前馈方法补偿总干扰。此外,通过采用 Nussbaum 增益
技术,解决由输出死区造成的不利影响。最后,通过 MATLAB 仿真实验的
结果验证提出控制方案的合理性。
[关 键 词]:多车辆队列系统;无奇异性固定时间控制;二次间距策略;扩
展状态观测器;输出死区
II
RESEARCH ON ADAPTIVE COOPERATIVE
CONTROL OF MULTI-VEHICLE PLATOON
SYSTEMS WITH UNCERTAINTY
ABSTRACT
With the rapid development of the artificial intelligence field, automobile industry is
gradually moving toward intelligence. The cooperative control technology of multi-vehicle
systems, which is a typical platoon driving, can improve road traffic efficiency, reduce the
incidence of safety accidents, and strengthen the utilization rate of energy saving and emission
reduction. Therefore, it is paid high attention by many scholars. At present, there are many
outstanding achievements with respect to cooperative control of multi-vehicle platoon systems,
however, for the complex constraints, such as convergence time, output dead zone, unmatched
unknown disturbances and system uncertainty, the analysis scheme of the platoon regulation is
still absent. Therefore, during the process of the vehicular platoon moving, it is necessary to
consider the above complex constraints, otherwise serious traffic accidents will appear. Based on
it, this paper mainly studies the adaptive cooperative control of multi-vehicle platoon systems
with uncertainty. The specific contents are described as follows:
1
、
A distributed adaptive fixed-time neural network platoon tracking control strategy with
singularity-free is proposed for homogeneous multi-vehicle platoon systems with model
uncertainty. The third-order vehicle platoon dynamics model, which is more in line with the
actual traffic situation, is constructed. Then, a novel smooth switching function is designed,
which can effectively solve the singularity problem of the traditional fixed-time control. In
addition, by using Lyapunov theory,
H
control and practical fixed-time control method, the
sufficient conditions for system stability are derived. Finally, the effectiveness of the proposed
control strategy is verified by simulation experiments of four different scenarios.
2、For heterogeneous multi-vehicle platoon systems with model uncertainty and output
dead zone, a distributed adaptive neural network platoon tracking control scheme based on
modified quadratic spacing policy and extended state observer is proposed for heterogeneous
multi-vehicle platoon systems with model uncertainty and output dead zone. A modified
quadratic spacing policy is established, which can eliminate the assumption that the initial
III
spacing error is zero. Then, a series of second-order extended state observers are constructed to
estimate the total disturbances of the matching and mismatching channels, and the feedforward
method is employed to compensate total disturbances. Moreover, by using Nussbaum gain
technology, the adverse effect caused by the output dead zone is solved. Finally, the rationality of
the proposed control scheme is verified by the results of simulation experiment.
KEY WORDS: Multi-vehicle platoon systems; singularity-free fixed-time control; quadratic
spacing policy; extended state observer; output dead zone
IV
目 录
1
绪论 ................................................................................................................ 1
1.1 选题背景及研究意义..............................................................................................1
1.2
多车辆队列系统国内外研究现状
..........................................................................2
1.2.1
车辆动力学建模研究现状
...........................................................................2
1.2.2 车辆队列控制研究现状...............................................................................3
1.2.3 车辆队列系统有限/固定时间研究现状.....................................................5
1.2.4
车辆队列控制的间距策略研究现状
...........................................................6
1.3 多车辆队列系统存在的问题..................................................................................7
1.4
主要研究内容及章节安排
......................................................................................7
2
预备知识........................................................................................................ 9
2.1 车辆系统纵向动力学建模......................................................................................9
2.2
有限/固定时间控制理论
......................................................................................10
2.3 车辆间距策略........................................................................................................10
2.4
本章小结
................................................................................................................11
3
基于固定时间的多车辆队列系统自适应神经网络控制.........................12
3.1 系统描述和控制目标............................................................................................12
3.1.1
具有不确定的同构多车辆队列系统模型
.................................................12
3.1.2 控制目标.....................................................................................................14
3.2
控制器设计及稳定性分析
....................................................................................15
3.2.1 基于非奇异固定时间自适应神经网络控制器设计.................................15
3.2.2
稳定性分析
.................................................................................................21
3.3 仿真例子................................................................................................................23
3.4 本章小结................................................................................................................30
4
基于二次间距策略的多车辆队列系统自适应神经网络控制
................ 31
4.1 系统描述和控制目标............................................................................................32
4.1.1
具有不确定和输出死区的异构多车辆队列系统模型
.............................32
4.1.2 控制目标.....................................................................................................34
4.2 控制器设计及稳定性分析....................................................................................36
V
4.2.1
基于二次间距策略和扩展状态观测器的自适应控制器设计过程
.........36
4.2.2 稳定性分析.................................................................................................42
4.3
仿真例子
................................................................................................................45
4.4 本章小结................................................................................................................50
总结与展望
......................................................................................................51
参考文献
.......................................................................................................... 53
论文发表情况
..................................................................................................60
致 谢
................................................................................................................ 61
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