基于事件触发的自主车队控制
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摘要
研究自主车队控制的渐进稳定性和队列稳定性问题。在考虑车辆发动机常数存在不确定性及无线传输延时的情况下,提出一种基于事件驱动机制的控制器设计方法,以保证车队的渐进稳定性的要求。在此基础上,为实现车队队列稳定性,基于Z-变换进一步给出控制器设计的限制条件。最后,利用Atmega2560为控制单元的Arduino小车进行试验,实验结果证明该控制方法不但能保证车队的渐近稳定性和队列稳定性能,还能大大改善车队的控制效果。
This paper investigated the asymptotic stability and string stability problem for autonomous platoon control systems. The stability of the platoon system was analysed with the presence of engine constant uncertainty and time-varying transmission delay. An event-triggered based control method is presented,which can realized asymptotically stable of the autonomous platoon system. Based on this control strategy, additional restrictive conditions are derived for the string stable based on Z-transform. The effectiveness and advantage of the presented methodology are demonstrated by experiments with Arduino cars designed by Atmega2560.
This paper investigated the asymptotic stability and string stability problem for autonomous platoon control systems. The stability of the platoon system was analysed with the presence of engine constant uncertainty and time-varying transmission delay. An event-triggered based control method is presented,which can realized asymptotically stable of the autonomous platoon system. Based on this control strategy, additional restrictive conditions are derived for the string stable based on Z-transform. The effectiveness and advantage of the presented methodology are demonstrated by experiments with Arduino cars designed by Atmega2560.
引文
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[2]Liu.X H,Goldsmith A,Mahal S S,“Effects of communication delay on string stability in vehicle platoons,”IEEE Intelligent transportation systems conference proceedings.Oakland,2001,:625-630.
[3]李冰,邱献红,轩华.基于运行距离最短的车队调度问题图解算法[J],控制工程,2014,21(3):409-414.Li B,QIU X H,XUAN H.A,“Graphic Algorithm on Fleet Scheduling Problem Based on the Shortest Distance,”Control Engineering of China,2014,21(3):409-414.
[4]Maarten R I N,Thijs V K,Sinan O,Bram B,Henk N,“Cooperative driving with a heavy-duty truck in mixed traffic:experimental results,”IEEE Trans.Intell.Transp.Syst.,2012,13(3):1026-1032.
[5]Bart V A,Cornelie J G,Van D,Ruben V,“The impact of cooperative adaptive cruise control on traffic-flow characteristics,”IEEE Trans.Intell.Transp.Syst.,2006,7(4):429-436.
[6]Lei C,E.Eenennaam E M,“Impact of packet loss on CACC string stability performance,”Proc.ITS Telecommunications(ITST),2011:381-386.
[7]Guo G,Yue W,“Sampled-data cooperative adaptive cruise control of vehicles with sensor failures,”IEEE Trans.Intell.Transp.Syst.,2015,15(6):2404-2418.
[8]Kun L,Ioannou P,“Modeling of traffic flow of automated vehicles,”IEEE Trans.Intell.Transp.Syst.,2004,5(1):99-113.
[9]Soheila V,“Coordinating Automated Vehicles via Communication,”Berkeley,University of California,2001.
[10]吴利刚,郭戈.基于SDP处理机制下的网络化车队控制研究[J].控制工程,2016,23(5):698-705.Wu L G,Guo G,“Networked Control of the Platoon System Based on SDP”Control Engineering of China,2016,23(5):698-705.
[11]Hu S,Yin X,“Event-triggered guaranteed cost control for uncertain discrete-time networked control systems with time-varying transmission delays,”IET Control Theory and Applications,2012,6(18):2793-2804.
[2]Liu.X H,Goldsmith A,Mahal S S,“Effects of communication delay on string stability in vehicle platoons,”IEEE Intelligent transportation systems conference proceedings.Oakland,2001,:625-630.
[3]李冰,邱献红,轩华.基于运行距离最短的车队调度问题图解算法[J],控制工程,2014,21(3):409-414.Li B,QIU X H,XUAN H.A,“Graphic Algorithm on Fleet Scheduling Problem Based on the Shortest Distance,”Control Engineering of China,2014,21(3):409-414.
[4]Maarten R I N,Thijs V K,Sinan O,Bram B,Henk N,“Cooperative driving with a heavy-duty truck in mixed traffic:experimental results,”IEEE Trans.Intell.Transp.Syst.,2012,13(3):1026-1032.
[5]Bart V A,Cornelie J G,Van D,Ruben V,“The impact of cooperative adaptive cruise control on traffic-flow characteristics,”IEEE Trans.Intell.Transp.Syst.,2006,7(4):429-436.
[6]Lei C,E.Eenennaam E M,“Impact of packet loss on CACC string stability performance,”Proc.ITS Telecommunications(ITST),2011:381-386.
[7]Guo G,Yue W,“Sampled-data cooperative adaptive cruise control of vehicles with sensor failures,”IEEE Trans.Intell.Transp.Syst.,2015,15(6):2404-2418.
[8]Kun L,Ioannou P,“Modeling of traffic flow of automated vehicles,”IEEE Trans.Intell.Transp.Syst.,2004,5(1):99-113.
[9]Soheila V,“Coordinating Automated Vehicles via Communication,”Berkeley,University of California,2001.
[10]吴利刚,郭戈.基于SDP处理机制下的网络化车队控制研究[J].控制工程,2016,23(5):698-705.Wu L G,Guo G,“Networked Control of the Platoon System Based on SDP”Control Engineering of China,2016,23(5):698-705.
[11]Hu S,Yin X,“Event-triggered guaranteed cost control for uncertain discrete-time networked control systems with time-varying transmission delays,”IET Control Theory and Applications,2012,6(18):2793-2804.