摘要
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.
作者
邹存名
单慧
李洪兴
ZOU Cun-ming;SHAN Hui;LI Hong-xing(Department of Public Security Management,Liaoning Police College,Dalian 116036,China;Human Resources Office,Liaoning Police College,Dalian 116036,China;School of Control Science and Engineering,Dalian University of Technology,Dalian 116024,China)
出处
《控制工程》
CSCD
北大核心
2022年第7期1295-1301,共7页
Control Engineering of China
基金
辽宁省教育厅科学研究经费重点攻关项目(L2019001)
辽宁省教育厅科学研究经费基础研究项目(W2019002)
辽宁省高等学校创新团队支持计划“智能道路交通控制与应急指挥”
辽宁省自然科学基金项目(2019-ZD-0349)。
关键词
车辆协同编队控制
LMI
模型预测控制
队列稳定性
Vehicle cooperative formation control
linear matrix inequality(LMI)
model prediction control
string stability