通信延迟下智能电动汽车队列分布式自适应鲁棒控制

王靖瑶; 郑华青; 郭景华; 罗禹贡

doi:10.16511/j.cnki.qhdxxb.2021.22.008

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清华大学学报（自然科学版） ›› 2021, Vol. 61 ›› Issue (9) : 889-897. DOI: 10.16511/j.cnki.qhdxxb.2021.22.008

智能汽车

通信延迟下智能电动汽车队列分布式自适应鲁棒控制

王靖瑶^1,2, 郑华青¹, 郭景华^1,2, 罗禹贡²

作者信息 +

Distributed adaptive robust platoon control of intelligent electric vehicles with communication delays

WANG Jingyao^1,2, ZHENG Huaqing¹, GUO Jinghua^1,2, LUO Yugong²

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文章历史 +

摘要

针对通信延迟影响下的智能电动汽车队列控制问题，提出了一种智能电动汽车队列分布式自适应鲁棒控制方法。建立考虑非线性项、参数不确定性和外部干扰因素影响的智能电动汽车纵向队列动力学模型，并基于逆模型补偿技术，消除了非线性项对队列系统的影响；构建通信延迟作用下智能电动汽车队列分布式状态反馈控制结构，给出通信延迟、外部干扰和参数不确定性下的智能电动汽车队列闭环系统模型；使用特征值分解对通信延迟下智能电动汽车队列通信拓扑进行解耦，采用线性矩阵不等式处理方法，推导出通信延迟下智能电动汽车队列自适应控制器的存在条件，该矩阵不等式是低维的，与智能电动汽车队列长度无关。基于Lyapunov理论对时滞队列系统稳定性进行分析，验证系统的稳定性；仿真试验验证了所提出的通信延迟下队列分布式自适应鲁棒控制方法的可行性和有效性。

Abstract

Groups of intelligent electric vehicles are more difficult to control when experiencing communication delays. This paper presents a distributed adaptive robust control method for vehicle platoons. The platoon control model includes nonlinear terms, parameter uncertainties, communication delays and other factors. The influence of the nonlinear terms on the control system is eliminated by using an inverse model. Then, a distributed state feedback control structure is designed with a closed-loop model with communication delays, external disturbances and parameter uncertainties. The communication topology is then decoupled using property value decomposition. The existence condition of the adaptive controller is derived using the linear matrix inequality processing method. The matrix inequality is low dimensional and independent of the platoon length. The control system is shown to be stable with communication delays using Lyapunov stability theory. Simulations demonstrate the feasibility and effectiveness of this distributed adaptive robust control method when influenced by communication delays.

导出引用

王靖瑶, 郑华青, 郭景华, 罗禹贡. 通信延迟下智能电动汽车队列分布式自适应鲁棒控制[J]. 清华大学学报（自然科学版）. 2021, 61(9): 889-897 https://doi.org/10.16511/j.cnki.qhdxxb.2021.22.008

WANG Jingyao, ZHENG Huaqing, GUO Jinghua, LUO Yugong. Distributed adaptive robust platoon control of intelligent electric vehicles with communication delays[J]. Journal of Tsinghua University(Science and Technology). 2021, 61(9): 889-897 https://doi.org/10.16511/j.cnki.qhdxxb.2021.22.008

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基金

国家自然科学基金项目（61803319）；清华大学汽车安全与节能国家重点实验室开放课题（KF2011）；中央高校基本科研业务费专项资金资助项目（20720190015）；厦门市重大科技项目（3502Z 20201015）

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收稿日期	出版日期
2020-11-24	2021-09-15
发布日期
2021-08-21

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