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通信拓扑不确定条件下车队列分布式H∞ 控制

高 锋1，刘 葆1，李克强2   

  1. (1. 重庆大学电气工程学院， 重庆 400044，中国；
    2. 清华大学 汽车工程系；汽车安全与节能国家重点实验室，北京 100084，中国)
  • 收稿日期:2017-04-28 出版日期:2017-12-30 发布日期:2018-01-03
  • 作者简介:高锋（1978—），男（汉），江苏，研究员。E-mail ：gaofeng1@cqu.edu.cn。
  • 基金资助:

    汽车安全与节能国家重点实验室开放基金资助项目（KF16192）。

Distributed H∞ control of automated vehicular platoons with uncertain interaction topologies

GAO Feng1, LIU Bao1, LI Keqiang2   

  1. (1. School of Automotive Engineering, Chongqing University, Chongqing 400044, China; 2. Department of Automotive
    Engineering of Tsinghua University; State Key Lab of Automotive Safety and Energy, Beijing 100084, China）
  • Received:2017-04-28 Online:2017-12-30 Published:2018-01-03

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摘要：

       为提高队列行驶道路利用率，缓解交通压力，针对通信拓扑不确定问题，提出了一种分布式H∞控制方法。建立车辆纵向动力学模型，在逆模型补偿基础上，对汽车节点模型和参数范围进行辨识，构建队列不确定系统方程；通过通信拓扑特征值分解和线性变换实现队列系统解耦，给出分布式H∞ 控制器的线性矩阵不等式（LMI）数值求解和优化方法；通过台架测试对该队列控制系统的鲁棒稳定性和跟踪性能验证。结果表明：在测试设定的建模误差和环境扰动下，距离误差均小于1 m，速度误差均小于0.3 m/s ；提出的分布式H∞控制策略能够有效抑制建模误差和环境扰动造成的影响，从而使队列保持良好的鲁棒性能。

关键词: 汽车队列, 分布式控制, 系统解耦, 鲁棒性能

Abstract:

A distributed H∞ control method for automated vehicular platoon interacted by uncertain network topologies was presented to improve the road efficiency and to alleviate the pressure of traffic. Based on the vehicle longitudinal dynamics compensated for by an inverse model, the vehicle node model and its parameter
range were obtained by process identification. A decoupling method was proposed based on the platoon uncertain model set up to decompose the platoon system through linear transformation and eigenvalue decomposition of topological matrix. A numerical method was given to design and optimized the distributed H∞ controller with linear matrix inequality (LMI) approach, and its robust stability and tracking performance was validated by bench tests. The results show that the distance error and the speed error are less than 1 m and 0.3 m/s respectively with the model errors and environmental disturbances used in tests. The proposed distributed H∞ control strategy can attenuate the disturbances arising from model errors and environmental resistances, and accordingly a fine robust performance of platoon is ensured. 

Key words: vehicular platoon/ distributed control/ system decoupling/ , robust performance