网络非线性系统的镇定及在车辆跟随控制的应用

Stabilizing networked nonlinear systems and application tolongitudinal platooning

非线性大系统或多自主体系统在理论与工程应用领域都受到了广泛的关注.其中,稳定性以及衍生的镇定控制问题是研究的关键.为了应对车辆跟随控制问题,本文针对一类下三角型不确定网络非线性系统,给出稳定网络系统满足的充分条件,并提出一种全局鲁棒镇定控制设计方法.通过解决车辆跟随系统的纵向控制问题,揭示本文的研究结果可用于输出调节问题等综合控制问题的求解.仿真验证本文结果的有效性.

Control of large-scale and multi-agent nonlinear systems has gained rapid developments from theory to wide engineering applications,continuously promoting more and more challenging byproduct stabilization problems.The present study is motivated by a car-following system and focuses on developing a systematic design algorithm for stabilizing a networked system with dynamic uncertainties.Our study not only gives a stabilizing control result but also explores an interesting link between the output regulation and stabilization serving a longitudinal control for a string of automated cars moving in a lane.We also show some simulation results to illustrate the proposed results.