摘要
智能车辆固定构型编队的瞬态性能(如编队误差收敛速度和超调量)对车辆协同动作及车辆行驶安全至关重要。针对含有模型不确定和外部扰动的车辆固定构型编队问题,提出一种考虑预设瞬态性能和稳态性能约束的有限时间车辆编队控制方法。首先,引入一种扰动观测器,实现对由模型不确定和外部扰动构成的复合扰动的有限时间有效估计;其次,将因车载传感器感知能力受限所造成的有限感知距离和有限视角转化为编队误差性能约束,预设非对称时变性能指标规范车辆编队误差的瞬态性能和稳态性能,并构建编队误差转换函数将有约束问题转化为无约束问题;然后,基于扰动观测器、预设性能指标和编队误差转换函数,采用指令滤波和有限时间控制思想,构造了可使车辆编队误差保持在预设区域并在有限时间内收敛的纵横向一体化的有限时间固定构型编队控制器,同时避免了传统反演控制中的复杂性爆炸问题,利用李雅普诺夫稳定性理论验证了车辆固定构型编队系统的稳定性;最后,进行了MATLAB仿真试验,验证所提有限时间固定构型编队控制方法的有效性。试验结果表明:所提出的方法可在保证车辆连通性且避免碰撞的同时,使得车辆编队误差于有限时间内收敛至关于0的小邻域内,加快了收敛速度,增强了其抗干扰能力,从而提高了控制性能。
The transient performance of multi-vehicle fixed configuration formation(convergence rate and overshoot of formation errors)is crucial for the cooperative driving of intelligent vehicles and vehicle travel safety.This study focused on the fixed configuration formation control of vehicles subject to model uncertainties and external disturbances,and a novel fixed configuration formation control scheme considering prescribed transient and steady-state performance constraints was developed,by which the formation could be achieved within a finite time.First,the external disturbance was combined with the model uncertainties as a compound disturbance,and a disturbance observer was constructed to estimate the compound disturbance in a finite time interval.Second,the limited sensing range and limited angle of view caused by the limited field-of-view vehicle-mounted sensor was transformed into the performance constraint of formation errors.The asymmetric and time-varying prescribed performance index was introduced to constrain the transient and steady-state performances of the formation errors,and the formation error transformation function was constructed to transform the constrained problem into an unconstrained problem.Then,based on the disturbance observer,the prescribed performance index,formation error transformation function,command filter technique,and finite-time control theory,a longitudinal and lateral integrated fixed configuration formation controller was designed,in which the formation errors could be kept in the prescribed range and converged in finite time,and the matter of explosion of complexity in the traditional backstepping control was avoided.The stability of the vehicle fixed configuration formation control was analyzed using the Lyapunov method.Finally,the effectiveness of the proposed finite-time fixed-configuration formation control was demonstrated by numerical simulations in MATLAB.The simulation results show that the proposed control scheme can not only guarantee collision avoidance and connectivity maintenance between vehicles,but also guarantee that the formation errors converge to a small neighborhood of origin in finite time.Meanwhile,the given control scheme has a faster convergence speed,stronger anti-interference capacity,and better control performance.
作者
郭戈
张茜
高振宇
GUO Ge;ZHANG Qian;GAO Zhen-yu(College of Information Science and Engineering,Northeastern University,Shenyang 110819,Liaoning,China;State Key Laboratory of Synthetical Automation for Process Industries,Northeastern University,Shenyang 110819,Liaoning,China;School of Control Engineering,Northeastern University at Qinhuangdao,Qinhuangdao 066004,Hebei,China)
出处
《中国公路学报》
EI
CAS
CSCD
北大核心
2022年第3期28-42,共15页
China Journal of Highway and Transport
基金
国家自然科学基金项目(U1808205,62173079)
河北省自然科学基金项目(F2020501018)
中央高校基本科研业务费专项资金项目(N2023011)
河北省高等学校科学技术研究项目(QN2020522).
关键词
交通工程
固定构型编队控制
有限时间控制
智能车辆
预设性能约束
扰动观测器
traffic engineering
fixed configuration formation control
finite-time control
intelligent vehicle
prescribed performance
disturbance observer
作者简介
郭戈(1972-),男,甘肃庄浪人,教授,博士研究生导师,工学博士,E-mail:geguo@yeah.net。
