基于固定时间扰动观测器的智能网联车辆协同队列控制

doi:10.12068/j.issn.1005-3026.2024.11.001

东北大学学报（自然科学版） ›› 2024, Vol. 45 ›› Issue (11): 1521-1528.DOI: 10.12068/j.issn.1005-3026.2024.11.001

• 信息与控制 • 下一篇

基于固定时间扰动观测器的智能网联车辆协同队列控制

李想, 孙振超, 高振宇()

东北大学秦皇岛分校控制工程学院，河北秦皇岛 066004

收稿日期:2023-05-29 出版日期:2024-11-15 发布日期:2025-02-24
通讯作者: 高振宇
作者简介:李想（2000-），男，山东德州人，东北大学硕士研究生
高振宇（1989-），男，山东聊城人，东北大学副教授，硕士生导师.
基金资助:
国家自然科学基金资助项目(62303101);河北省自然科学基金资助项目(F2023501001);河北省在读研究生创新能力培养资助项目(CXZZSS2024179)

Cooperative Platoon Control of Connected and Automated Vehicles Based on Fixed-Time Disturbance Observer

Xiang LI, Zhen-chao SUN, Zhen-yu GAO()

School of Control Engineering，Northeastern University at Qinhuangdao，Qinhuangdao 066004，China.

Received:2023-05-29 Online:2024-11-15 Published:2025-02-24
Contact: Zhen-yu GAO
About author:GAO Zhen-yu， E-mail： 18840839109@163.com

摘要/Abstract

摘要：

针对含有模型不确定及外部扰动的智能网联自主车辆快速协同队列控制问题，提出了一种基于扰动观测器的固定时间队列控制方案.首先，构建了固定时间扰动观测器，在设定时间内精确估计由模型不确定及外部扰动构成的复合扰动.其次，基于扰动观测器、反步法及固定时间理论，设计了一种固定时间协同队列控制器，使得车辆队列控制系统是固定时间收敛的，保证了车辆间跟踪误差在给定时间内收敛到零，且收敛时间只与控制器参数有关.通过Lyapunov理论，分别证明了单车稳定性及队列稳定性.最后通过5辆车辆组成的队列控制仿真验证了给定方案的有效性.

关键词: 智能网联车辆, 队列控制, 扰动观测器, 固定时间控制, 反步法控制

Abstract:

The cooperative platoon control of connected and automated vehicles with model uncertainties and external disturbances is investigated. A fixed?time disturbance observer （DO） is proposed， with which the compound disturbance （i. e. ， model uncertainties and external disturbances） can be estimated accurately within settling time. Based on the DO， backstepping method and fixed?time theory， a novel controller is further designed to ensure that all signals of the closed?loop system have fixed?time stability， which ensures that the tracking error between vehicles converges to zero within a settling time， and the convergence time only depends on the controller parameters. Through Lyapunov stability theory， both individual vehicle stability and string stability are guaranteed. Finally， a simulation of five?vehicle platoon control verifies the effectiveness of the proposed scheme.

Key words: connected and automated vehicle, platoon control, disturbance observer, fixed?time control, backstepping control

中图分类号:

U 492.2

李想, 孙振超, 高振宇. 基于固定时间扰动观测器的智能网联车辆协同队列控制[J]. 东北大学学报（自然科学版）, 2024, 45(11): 1521-1528.

Xiang LI, Zhen-chao SUN, Zhen-yu GAO. Cooperative Platoon Control of Connected and Automated Vehicles Based on Fixed-Time Disturbance Observer[J]. Journal of Northeastern University(Natural Science), 2024, 45(11): 1521-1528.

图/表 18

图1 同构CAV队列构型

Fig.1 Configuration of homogeneous CAV

图2 各车辆的位置信息xi(t)

Fig.2 Position xi(t) of each vehicle

图3 各车辆的速度信息vi(t)

Fig.3 Velocity vi(t) of each vehicle

图4 各车辆的加速度信息ai(t)

Fig.4 Acceleration ai(t) of each vehicle

图5 各车辆的控制输入信息ui(t)

Fig.5 Control input ui(t) of each vehicle

图6 各车辆的跟踪误差ei(t)

Fig.6 Tracking error ei(t) of each vehicle

图7 各车辆的虚拟误差zi(t)

Fig.7 Virtual error zi(t) of each vehicle

图8 各车辆的实际扰动ωi(t)与估计扰动ω^i(t)

Fig.8 Actual disturbance ωi(t) and estimated disturbance ω^i(t) of each vehicle

图9 各车辆的位置信息xi(t)

Fig.9 Position xi(t) of each vehicle

图10 各车辆的速度信息vi(t)

Fig.10 Velocity vi(t) of each vehicle

图11 各车辆的加速度信息ai(t)

Fig.11 Acceleration ai(t) of each vehicle

图12 各车辆的控制输入信息ui(t)

Fig.12 Control input ui(t) of each vehicle

图13 各车辆的跟踪误差ei(t)

Fig.13 Tracking error ei(t) of each vehicle

图14 各车辆的虚拟误差zi(t)

Fig.14 Virtual error zi(t) of each vehicle

图15 实际扰动ωi(t)与估计扰动ω^i(t)

Fig.15 Actual disturbance ωi(t) and estimated disturbance ω^i(t) of each vehicle

图16 基于固定时间扰动观测器的实际扰动ωi(t)与估计扰动ω^i(t)

Fig.16 Actual disturbance ωi(t) and estimated disturbance ω^i(t) based on fixed?time DO

图17 基于传统扰动观测器的实际扰动ωi(t)与估计扰动ω^i(t)

Fig.17 Actual disturbance ωi(t) and estimated disturbance ω^i(t) based on traditional DO

图18 不同初始位置跟踪误差ei(t)

Fig.18 Tracking error ei(t) of different initial positions

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基于固定时间扰动观测器的智能网联车辆协同队列控制

Cooperative Platoon Control of Connected and Automated Vehicles Based on Fixed-Time Disturbance Observer

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