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

Abstract

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

CLC Number:

TP391

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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References 16

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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

Research on Vehicle Formation Based on Adaptive Control Algorithm

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