基于MARKOV随机信道分配的车队控制研究

Research on Fleet Control Based on Markov Random Channel Allocation

随着车辆的增加与交通的发展,车辆拥堵已经成为城市的一大问题,针对网络化车队的控制系统,首先给出了异构的车队控制模型,考虑到车辆间通信信道随机分配的特性,将整个车队建模为转移概率部分未知的多状态Markov跳跃系统,能够有效的解决车队控制系统中存在的信道受限问题。基于新的车队模型,利用Lyapunov方法和LMI,给出了车队随机稳定的条件以及相应控制器的设计方法。最后通过MATLAB仿真和Arduino车队实验,验证了上述方法的有效性和实用性。

With the increase of vehicles and the development of traffic, traffic congestion has become a major problem in cities.This paper is concerned with networked platoon control system.The heterogeneous modeling of platoon was given primarily.In order to address the access constraints for the networked fleet control system with random channel assignment on inter-vehicle communication, the fleet modeling was described as a multi-state Markov jumping system with known transtion probabilities.Based on the new platoon modeling, an approach to stochastically stable and controller design was derived by using Lyapunov theory and LMI.Finally, the effectiveness and practicability of the above method were verified by MATLAB simulation and Arduino fleet experiment.