基于信道受限的网络化车队控制与调度研究

Networked Control and Scheduling for Platoon Systems with Medium Access Constraints

针对异构的网络化车队控制系统,提出一种新颖的动态调度策略,能够有效的解决网络化车队控制系统中存在的通讯信道受限问题。基于新的车队模型,利用李雅普诺夫定理和频域分析,获得了能够保证网络化车队控制系统渐近稳定和队列稳定的控制器设计方法。最后通过数字仿真,验证了其有效性。

This paper is concerned with control and scheduling of heterogeneous networked platoon control systems. In order to address the effects of medium access constraints on networked platoon control systems, a novel dynamic scheduling strategy is proposed. Based on the new platoon modeling, a controller design approach, which can guarantee the asymptotic and string stability of the platoon control system, is derived by employing Lyapunov theory and frequency analysis method. A numerous simulation shows the efficiency of the proposed method.