一类基于自适应反馈控制的车辆编队研究

doi:10.16180/j.cnki.issn1007-7820.2019.06.007

电子科技 ›› 2019, Vol. 32 ›› Issue (6): 31-37.doi: 10.16180/j.cnki.issn1007-7820.2019.06.007

一类基于自适应反馈控制的车辆编队研究

毕灶荣¹,童东兵¹,陈巧玉²

1. 上海工程技术大学电子电气工程学院,上海 201620
2. 上海立信会计金融学院统计与数学学院,上海 201620

收稿日期:2018-05-20 出版日期:2019-06-15 发布日期:2019-07-01
作者简介:毕灶荣(1994-),男,硕士研究生。研究方向:嵌入式,复杂网络与控制等。|童东兵(1979-),男,博士,讲师。研究方向:嵌入式,复杂网络与控制等。|陈巧玉(1984-),女,博士,讲师。研究方向:复杂网络与控制等。
基金资助:
国家自然科学基金(61673257);国家自然科学基金(11501367);中国博士后科学基金(2015M581528);上海市自然科学基金(15ZR1419000)

Research on Vehicle Formation Based on Adaptive Control Algorithm

BI Zaorong¹,TONG Dongbing¹,CHEN Qiaoyu²

1. School of Electronic and Electrical Engineering,Shanghai University of Engineering Science,Shanghai 201620,China
2. School of Statistics and Mathematics,Shanghai Lixin University of Accounting and Finance,Shanghai 201620,China

Received:2018-05-20 Online:2019-06-15 Published:2019-07-01
Supported by:
National Natural Science Foundation of China(61673257);National Natural Science Foundation of China(11501367);China Postdoctoral Science Foundation(2015M581528);Shanghai Natural Science Foundation(15ZR1419000)

摘要/Abstract

摘要：

文中研究了基于生物刺激神经动力学方法的车辆编队控制问题。以编队车辆的运动学模型为基础,在跟随领航者体系下建立车辆编队系统动态模型。根据李雅普诺夫稳定性理论,设计出新的自适应反馈跟踪控制器,将车辆跟随问题转化为系统误差的控制问题,并运用仿真实验验证控制器的有效性。与现有的反馈跟踪控制器进行对比后可以看到,文中所设计的控制器在稳定性和收敛速度上有了进一步的提高。

关键词: 领航跟随法, 车辆编队, 动态模型, 自适应反馈, 李雅普诺夫稳定性, 跟踪控制器

Abstract:

This paper explored the vehicle formation control problem based on a bioinspired neurodynamics approach. A dynamic model for vehicle formation control was established in the leader-follower framework based on kinematics of each vehicle. According to Lyapunov stability theory, a new adaptive feedback tracking controller was designed to transform the vehicle following problem into the control problem of system error, which was followed by simulation experiments for effectiveness verification. The results showed that the newly designed controller had further improved stability and convergence speed compared to existing feedback tracking controllers.

Key words: leader-follower, vehicle formation, dynamic model, adaptive feedback, Lyapunov stability, tracking controller

中图分类号:

TP391

毕灶荣,童东兵,陈巧玉. 一类基于自适应反馈控制的车辆编队研究[J]. 电子科技, 2019, 32(6): 31-37.

BI Zaorong,TONG Dongbing,CHEN Qiaoyu. Research on Vehicle Formation Based on Adaptive Control Algorithm[J]. Electronic Science and Technology, 2019, 32(6): 31-37.

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控制器	文献[11]中所设计的控制器			本文所设计的控制器
误差类型	误差峰值	调节时间	稳态值	误差峰值	调节时间	稳态值
e₁	-14 m	30 s	0	-13 m	20 s	0
e₂	0.26 m	50 s	0	0.3 m	30 s	0
e₃	0.045 rad	30 s	0	0.034 rad	20 s	0

	文献[11]中所设计的控制器			本文所设计的控制器
误差类型	误差峰值	调节时间	稳态值	误差峰值	调节时间	稳态值
e₁	-1 m	15 s	0	-0.8 m	20 s	0
e₂	5 m	35 s	0	5 m	25 s	0
e₃	0.1 rad	30 s	0	0.035 rad	20 s	0

一类基于自适应反馈控制的车辆编队研究

Research on Vehicle Formation Based on Adaptive Control Algorithm

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