车队系统分布式协同自适应控制

Distributed Cooperative Adaptation Control of Fleet System

针对具有状态约束的非线性车队系统协同自适应控制问题,设计了分布式协同控制策略。考虑车队中车辆通信情况,建立车辆二阶偏差纵向动力学模型。为使车队系统满足内部稳定性,建立单车跟踪稳定性目标,并附加位置约束参数,应用传统模型预测控制MPC三要素法建立车队系统稳定性,满足车队控制性能。通过数值仿真验证了本文所提策略的有效性。

A distributed cooperative control strategy is designed for the cooperative adaptive control of nonlinear platoon system with state constraints.Considering the communication of vehicles in the vehicle platoon,a second order deviation longitudinal dynamics model is established.In order to satisfy the internal stability of the platoon system,optimization problem is established by defining a vehicle tracking stability target and the position constraint parameters are added.The traditional triplet of Model Predictive Control(MPC)ensures the stability of the platoon system and the control performance of the platoon.The effectiveness of the proposed strategy is verified by numerical simulation.