基于领航跟随者的固定时间车辆编队控制

Fixed-time vehicle formation control based on leader-follower

随着无人车技术的发展,对控制的要求更高,对系统收敛的时间也有一定的要求。为了解决传统多车辆协同编队控制系统无法预测系统收敛时间的问题,提出一种固定时间控制的车辆编队控制策略。首先,采用领航者-跟随者模式建立了领航车与跟随车之间的误差模型,将跟随车跟随领航车之间的跟踪问题转化为误差系统的控制问题;其次,根据固定时间理论来设计跟随车的线速度控制器和角速度控制器,使编队系统的跟踪误差在一定时间内趋于0,保证车辆编队能在一个固定时间内收敛并稳步形成所期望的编队队形;然后,把车辆编队系统分为位置误差系统和角度误差系统,运用李雅普诺夫稳定性理论分别证明位置误差系统和角度误差系统的稳定性,并推导出位置误差系统收敛时间的最上界;最后,通过MATLAB软件仿真,验证所提出的固定时间编队控制器的有效性。仿真结果表明,所提出的方法可以保证车辆编队误差系统在固定时间内收敛,形成期望编队阵型,且系统收敛时间与系统初始状态无关。

To solve the problem that the traditional multi-vehicle cooperative formation control system cannot predict the convergence time of the system,a vehicle formation control strategy with fixed time control is proposed.Firstly,the error model between the lead vehicle and the following vehicle is established by using the leader-follower mode,and the tracking problem between the following vehicle and lead vehicle is transformed into the control problem of the error system.Secondly,the linear velocity controller and angular velocity controller are designed according to the fixed time theory,so that the tracking error of the formation system tends to 0 in a certain period of time,and the vehicle formation can converge in a fixed time and form the desired formation steadily.Then,the vehicle formation system is divided into position error system and angle error system.The stability of position error system and angle error system is proved respectively by using Lyapunov stability theory,and the uppermost limit of the convergence time of position error system is derived.Finally,the effectiveness of the proposed fixed-time formation controller is verified by MATLAB software simulation.The simulation results show that the proposed method can ensure that the vehicle formation error system converges within a fixed time to form the desired formation,and the convergence time is independent of the initial state of the system.