基于Lyapunov函数方法的时滞车辆纵向跟随控制

Lyapunov function approach to longitudinal following control of vehicles in platoon with delays

应用向量Lyapunov函数方法和比较原理,基于非线性车辆动态耦合模型,研究具有时间滞后的车辆跟随系统的指数稳定性问题,得到了车辆跟随系统的指数稳定性判据.根据滑模控制策略确定了车辆跟随系统的纵向控制规律,基于稳定性准则设计了车辆纵向跟随控制器参数.仿真结果表明,基于该方法设计的车辆纵向跟随控制器能使跟踪误差具有较快的收敛率.

By using the vector Lyapunov function and comparison method, based on the nonlinear dynamically coupled model of string of vehicles, the exponential stability of vehicle following systems with delays is studied. The new stability sufficient condition is obtained. Based on the new results for the exponential stability of string of vehicle, applying sliding mode control method, the longitudinal control laws for each vehicle in the platoon are obtained and the longitudinal following controllers are designed. The simulation result shows that the convergence rates of spacing errors and velocity errors of the vehicle platoon are fast by using the controller.