论文标题
事件触发的基于州观察者的扩展的基于非线性车辆排的分布式控制
Event-Triggered Extended State Observer Based Distributed Control of Nonlinear Vehicle Platoons
论文作者
论文摘要
我们在恒定间距政策下研究具有三阶非线性动力学的车辆的排控制。我们考虑一个具有参数不确定性和外部干扰的车辆模型，并根据事件触发的扩展状态观察者（ESO）提出分布式控制法。首先，旨在估算车辆模型中未建模的动力学的ESO设计。然后，基于对未建模动力学的估计，通过使用修改的动态表面控制方法设计了分布式控制定律。每辆自行车车辆的控制定律仅使用板载传感器获得的信息，包括其自身的速度，加速度，前车辆的速度和车间距离。最后，我们给出控制参数的范围，以确保车辆排系统的稳定性。结果表明，可以正确设计控制参数，以使ESOS的观察误差界定，并确保字符串稳定性和闭环稳定性。我们证明在设计的事件触发机制下避免了Zeno行为。给出了CARSIM和MATLAB的联合模拟，以证明拟议的控制法的有效性。
We study the platoon control of vehicles with third-order nonlinear dynamics under the constant spacing policy. We consider a vehicle model with parameter uncertainties and external disturbances and propose a distributed control law based on an event-triggered extended state observer (ESO). First, an event-triggered ESO is designed to estimate the unmodeled dynamics in the vehicle model. Then based on the estimate of the unmodeled dynamics, a distributed control law is designed by using a modified dynamic surface control method. The control law of each follower vehicle only uses the information obtained by on-board sensors, including its own velocity, acceleration, the velocity of the preceding vehicle and the inter-vehicle distance. Finally, we give the range of the control parameters to ensure the stability of the vehicle platoon system. It is shown that the control parameters can be properly designed to make the observation errors of the ESOs bounded and ensure the string stability and closed-loop stability. We prove that the Zeno behavior is avoided under the designed event-triggered mechanism. The joint simulations of CarSim and MATLAB are given to demonstrate the effectiveness of the proposed control law.
