摘要
针对传感器失效下的非线性自主车辆编队控制问题进行研究。首先,建立了考虑传感器失效的非线性自主车队动态模型。其次,在该模型基础上提出一种新颖的切换控制方法,保证自主车队的渐近稳定性和队列稳定性。理论结果表明,该方法可以实现车队以较小的车间距安全行驶。最后,通过数字仿真实验,验证了该算法不但可实现车队的稳定运行,而且使车队的控制性能大大改善。
This paper investigates nonlinear autonomous platoon control with sensor failures. A nonlinear vehicular formation model involving sensor failure is established. Based on the nonlinear model, a switching controller design method is proposed. It is shown that the obtained control scheme can achieve asymptotically stable and string stable. The theoretical results show that the proposed system can achieve the objective of a smaller inter-vehicle spacing. The effectiveness and advantage of the proposed method are demonstrated by numerical simulations.
作者
吴利刚
周倩
卢自宝
柴常
WU Li-gang;ZHOU Qian;LU Zi-bao;CHAI Chang(College of Mechanical and Electrical Engineering,Shanxi Datong University,Datong 037009,China;College of Business,Shanxi Datong University,Datong 037009,China;College of Physics and Electronic Information,Anhui Normal University,Wuhu 241000,China)
出处
《控制工程》
CSCD
北大核心
2018年第8期1477-1481,共5页
Control Engineering of China
基金
国家自然科学基金项目(61503003)
山西大同大学博士科研启动基金(2016-B-18)
关键词
自主车队
切换控制
传感器失效
渐近稳定
Autonomous platoon
switching control
sensor failure
asymptotically stable