基于模型预测的车辆协同编队控制

Vehicle Cooperative Formation Control Based on Model Prediction

针对考虑车载传感器故障的非线性车辆协同编队控制问题进行了研究。首先,建立考虑传感器故障的非线性车辆协同控制系统模型。其次,在该模型的基础上利用李雅普诺夫方法设计基于线性矩阵不等式(LMI)的模型预测控制器,优化车队的控制性能指标,在保证车队渐进稳定和队列稳定的同时,进一步提高车队的控制性能。最后,通过以Arduino为控制单元搭建的实验车队验证了算法的有效性和实用性。

In this paper,the problem of nonlinear vehicle cooperative formation control considering sensor fault is studied.Firstly,a model of nonlinear vehicle cooperative control system considering sensor fault is established.Secondly,on the basis of the model,a model prediction controller based on linear matrix inequality(LMI) is designed by using Lyapunov method to optimize the control performance index of the formation,so as to further improve the control performance while ensuring the asymptotic stability and string stability of the system.Finally,the effectiveness and practicability of the algorithm are verified by the experimental vehicles built with Arduino as the control unit.