智能车辆队列横纵向有限时间滑模控制

Intelligent vehicle platoon lateral and longitudinal control based on finite-time sliding mode control

针对智能车辆队列横纵向控制及误差快速收敛问题,本文提出一种分布式横纵向有限时间滑模控制策略.首先,考虑跟踪误差的连锁反应及横纵向耦合效应,利用投影变换建立车辆队列横纵向误差模型,提出一种车辆队列横纵向控制框架.而后,针对误差快速收敛问题,设计非奇异积分终端滑模面(NITSM)与自适应幂次积分趋近律(APIRL),通过构造Lyapunov函数分析系统的有限时间稳定性与队列稳定性.最后,基于Trucksim/Simulink联合仿真以及实车实验进一步验证了本文方法的有效性.结果表明,本文所提方法能保证队列稳定性,并实现误差快速收敛,规避跟踪误差的连锁反应及车辆横向运动对纵向车间距误差的影响.

A distributed control method is proposed based on finite-time sliding mode control for lateral and longitudinal control of platoon and fast convergence of errors.First,considering the chain reaction of tracking errors and coupling effects of vehicle lateral and longitudinal movement,lateral and longitudinal error model of platoon is established based on projection transformation,and the control framework of platoon is put forward.Then,aiming at the fast convergence of errors,nonsingular integral terminal sliding mode surface and adaptive integral power reaching law are designed.Finitetime stability and string stability of the system are analyzed by constructing Lyapunov function.Finally,Trucksim/Simulink joint simulation and real vehicle experiments further verify the effectiveness of the method in this research.The results show that the proposed method can guarantee the string stability,realize the rapid convergence of errors,and avoid the tracking error chain reaction and influence of lateral movement on longitudinal spacing error.