摘要
考虑通信拓扑切换下异质非线性车辆队列系统协同控制问题,提出一种能够保证车辆队列稳定和弦稳定的分布式模型预测控制策略.先结合车辆队列动态通信拓扑切换过程,构建与时间相关的图函数,再利用邻居车辆状态信息描述平均协同代价函数,并将其引入局部滚动时域优化控制问题.进一步,应用平均停留时间概念和切换系统Lyapunov稳定性理论,建立通信拓扑切换下车辆队列闭环系统的内部稳定性和弦稳定性充分条件.最后通过两组典型交通场景的对比仿真验证本文策略的有效性.
This paper considers the cooperative control problem of heterogeneous nonlinear vehicle platooning systems with switching communication topologies and proposes the distributed model predictive control strategy with guaranteed stability and string stability of the vehicle platoon.The time-related graph function is firstly constructed for the switching process of the dynamic communication topologies of the vehicle platoon.Then the average cooperative cost function is formulated using the neighbor vehicle state information and induced into the local receding horizon optimization control problem.Moreover,the sufficient conditions with respect to the weighted matrix and the value function are established to ensure the internal stability and the string stability of the closed-loop system of the vehicle platoon with switching communication topologies by combining the concept of the average dwell-time and the Lyapunov’s stability theory of switching systems.Finally,the two groups of comparison simulations on some representative traffic scenarios are used to illustrate the effectiveness of the proposed scheme.
作者
罗捷
鲁良叶
何德峰
俞立
杜海平
LUO Jie;LU Liang-ye;HE De-feng;YU Li;DU Hai-ping(College of Information Engineering,Zhejiang University of Technology,Hangzhou Zhejiang 310023,China;School of Electrical,Computer and Telecommunications Engineering,University of Wollongong,Wollongong 2522,Australia)
出处
《控制理论与应用》
EI
CAS
CSCD
北大核心
2021年第7期887-896,共10页
Control Theory & Applications
基金
国家自然科学基金项目(61773345)
浙江省高校基本科研业务费项目(RF-C2020003)资助。
关键词
模型预测控制
车辆队列
分布式控制
通信拓扑切换
稳定性
model predictive control
vehicle platoons
distributed control
switching communication topologies
stability
