Distributed Decoupled Robust Control of Heterogeneous Vehicular Platoon

Abstract

Abstract: Based on the distributed control structure and interaction topology modeled by graph theory， a decoupled robust control strategy was presented for a heterogeneous vehicular platoon to deal with the uncertainties of node dynamics. The dynamical behavior of node composed of vehicle dynamics and a lower-level controller was assumed to be covered by a multiplicative uncertainty model. Then to decouple the platoon system， which was skillfully decomposed into a H∞ norm bounded uncertain part and a diagonal system by applying linear transformation and eigenvalue decomposition on communication topology. The requirements of robust stability， tracking ability and vehicular platoon stability were analyzed theoretically. Comparative bench tests with a non-robust controller and different communication topologies were conducted to demonstrate its robust stability， tracking ability and vehicular platoon.

Key words: vehicular platoon, robust control, dynamics decoupling, vehicular platoon stability

摘要：

基于分布式控制结构和基于图论的通信拓扑描述方法，针对车辆节点动力学的不确定性设计了一种异质队列的鲁棒解耦控制策略。采用乘性不确定模型覆盖由下位控制器和车辆动态特性构成的队列节点的动态特性，在此基础上通过通信拓扑的特征值分解和线性变换将异质队列控制系统分解成[H∞]范数有界的不确定部分和一个对角系统，从而实现队列系统的解耦。进一步对该控制系统的鲁棒稳定性、跟踪性能和队列稳定性进行理论分析。通过与非鲁棒控制器，以及不同通信拓扑下的系统性能进行台架实验对比分析，对所提方法的鲁棒稳定性、跟踪性能和队列稳定性进行了验证。

关键词: 队列, 鲁棒控制, 动力学解耦, 队列稳定性

CLC Number:

U471

GAO Feng, WANG Xiaotong. Distributed Decoupled Robust Control of Heterogeneous Vehicular Platoon[J]. China Mechanical Engineering.

高锋, 王晓彤. [电动汽车稳定性控制]异质队列的分布式鲁棒解耦控制[J]. 中国机械工程.

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