控制理论与应用2023，Vol.40Issue(11)：1891-1902,12.DOI:10.7641/CTA.2023.20420
网联车辆有限时间滑模预设性能队列控制
Finite-time sliding mode prescribed performance platoon control of connected vehicles
摘要
Abstract
This paper focus on the prescribed performance platoon control of connected vehicles subject to unknown disturbances and model uncertainties,and a novel platoon control scheme based on improved sliding mode control is proposed in this paper.First,to satisfy the prescribed performance of the vehicular platoon,a novel finite-time prescribed performance function is designed,with which the tracking errors can converge to the given region in settling time.Then,an improved sliding mode control scheme is proposed,which speeds up the convergence speed of the system.The given scheme is proved to be capable of guaranteeing the individual vehicle stability and string stability in finite-time of the platoon.At the same time,the effects of unknown disturbances and model uncertainties are dealt with by introducing a set of adaptive estimation laws.Finally,the effectiveness of the proposed algorithm is verified by the simulation of platoon control of six connected vehicles in MATLAB.关键词
网联车辆/队列控制/有限时间稳定/滑模控制/预设性能控制Key words
connected vehicles/platoon control/finite-time stability/sliding mode control/prescribed performance control引用本文复制引用
高振宇,孙振超,郭戈..网联车辆有限时间滑模预设性能队列控制[J].控制理论与应用,2023,40(11):1891-1902,12.基金项目
国家自然科学基金项目(62303101,62173079),河北省自然科学基金项目(F2023501001),中央高校基本科研业务费项目(N2223036)资助.Supported by the National Natural Science Foundation of China(62303101,62173079),the Natural Science Foundation of Hebei Province(F2023501001)and the Fundamental Research Funds for the Central Universities(N2223036). （62303101,62173079）
